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

   1 /**
   2  ******************************************************************************
   3  * @file       pios_board.c
   4  * @author     The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015.
   5  *             The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
   6  *             PhoenixPilot, http://github.com/PhoenixPilot, Copyright (C) 2012
   7  * @addtogroup OpenPilotSystem OpenPilot System
   8  * @{
   9  * @addtogroup OpenPilotCore OpenPilot Core
  10  * @{
  11  * @brief Defines board specific static initializers for hardware for the revomini 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 <taskinfo.h>
  34 #include <pios_ws2811.h>
  35
  36 #include "sanitycheck.h"
  37 #include "actuatorsettings.h"
  38
  39 #ifdef PIOS_INCLUDE_INSTRUMENTATION
  40 #include <pios_instrumentation.h>
  41 #endif
  42
  43 #include <pios_board_io.h>
  44 #include <pios_board_sensors.h>
  45
  46 /*
  47  * Pull in the board-specific static HW definitions.
  48  * Including .c files is a bit ugly but this allows all of
  49  * the HW definitions to be const and static to limit their
  50  * scope.
  51  *
  52  * NOTE: THIS IS THE ONLY PLACE THAT SHOULD EVER INCLUDE THIS FILE
  53  */
  54 #include "../board_hw_defs.c"
  55
  56 uintptr_t pios_uavo_settings_fs_id;
  57 uintptr_t pios_user_fs_id;
  58
  59 #ifdef PIOS_INCLUDE_WS2811
  60 uint32_t pios_ws2811_id;
  61 #endif
  62
  63 static SystemAlarmsExtendedAlarmStatusOptions RevoNanoConfigHook();
  64 static void ActuatorSettingsUpdatedCb(UAVObjEvent *ev);
  65
  66 /**
  67  * PIOS_Board_Init()
  68  * initializes all the core subsystems on this specific hardware
  69  * called from System/openpilot.c
  70  */
  71
  72 #include <pios_board_info.h>
  73
  74 static const PIOS_BOARD_IO_UART_Function flexi_function_map[] = {
  75     [HWSETTINGS_RM_FLEXIPORT_TELEMETRY]      = PIOS_BOARD_IO_UART_TELEMETRY,
  76     [HWSETTINGS_RM_FLEXIPORT_GPS] = PIOS_BOARD_IO_UART_GPS,
  77     [HWSETTINGS_RM_FLEXIPORT_DSM] = PIOS_BOARD_IO_UART_DSM_FLEXI,
  78     [HWSETTINGS_RM_FLEXIPORT_EXBUS]          = PIOS_BOARD_IO_UART_EXBUS,
  79     [HWSETTINGS_RM_FLEXIPORT_HOTTSUMD]       = PIOS_BOARD_IO_UART_HOTT_SUMD,
  80     [HWSETTINGS_RM_FLEXIPORT_HOTTSUMH]       = PIOS_BOARD_IO_UART_HOTT_SUMH,
  81     [HWSETTINGS_RM_FLEXIPORT_SRXL] = PIOS_BOARD_IO_UART_SRXL,
  82     [HWSETTINGS_RM_FLEXIPORT_IBUS] = PIOS_BOARD_IO_UART_IBUS,
  83     [HWSETTINGS_RM_FLEXIPORT_DEBUGCONSOLE]   = PIOS_BOARD_IO_UART_DEBUGCONSOLE,
  84     [HWSETTINGS_RM_FLEXIPORT_COMBRIDGE]      = PIOS_BOARD_IO_UART_COMBRIDGE,
  85     [HWSETTINGS_RM_FLEXIPORT_OSDHK]          = PIOS_BOARD_IO_UART_OSDHK,
  86     [HWSETTINGS_RM_FLEXIPORT_MSP] = PIOS_BOARD_IO_UART_MSP,
  87     [HWSETTINGS_RM_FLEXIPORT_MAVLINK]        = PIOS_BOARD_IO_UART_MAVLINK,
  88     [HWSETTINGS_RM_FLEXIPORT_FRSKYSENSORHUB] = PIOS_BOARD_IO_UART_FRSKY_SENSORHUB,
  89     [HWSETTINGS_RM_FLEXIPORT_HOTTTELEMETRY]  = PIOS_BOARD_IO_UART_HOTT_BRIDGE,
  90 };
  91
  92 static const PIOS_BOARD_IO_UART_Function main_function_map[] = {
  93     [HWSETTINGS_RM_MAINPORT_TELEMETRY] = PIOS_BOARD_IO_UART_TELEMETRY,
  94     [HWSETTINGS_RM_MAINPORT_GPS]            = PIOS_BOARD_IO_UART_GPS,
  95     [HWSETTINGS_RM_MAINPORT_SBUS]           = PIOS_BOARD_IO_UART_SBUS,
  96     [HWSETTINGS_RM_MAINPORT_DSM]            = PIOS_BOARD_IO_UART_DSM_MAIN,
  97     [HWSETTINGS_RM_MAINPORT_DEBUGCONSOLE]   = PIOS_BOARD_IO_UART_DEBUGCONSOLE,
  98     [HWSETTINGS_RM_MAINPORT_COMBRIDGE]      = PIOS_BOARD_IO_UART_COMBRIDGE,
  99     [HWSETTINGS_RM_MAINPORT_OSDHK]          = PIOS_BOARD_IO_UART_OSDHK,
 100     [HWSETTINGS_RM_MAINPORT_MSP]            = PIOS_BOARD_IO_UART_MSP,
 101     [HWSETTINGS_RM_MAINPORT_FRSKYSENSORHUB] = PIOS_BOARD_IO_UART_FRSKY_SENSORHUB,
 102     [HWSETTINGS_RM_MAINPORT_HOTTTELEMETRY]  = PIOS_BOARD_IO_UART_HOTT_BRIDGE,
 103 };
 104
 105 void PIOS_Board_Init(void)
 106 {
 107     const struct pios_board_info *bdinfo = &pios_board_info_blob;
 108
 109 #if defined(PIOS_INCLUDE_LED)
 110     const struct pios_gpio_cfg *led_cfg  = PIOS_BOARD_HW_DEFS_GetLedCfg(bdinfo->board_rev);
 111     PIOS_Assert(led_cfg);
 112     PIOS_LED_Init(led_cfg);
 113 #endif /* PIOS_INCLUDE_LED */
 114
 115
 116 #ifdef PIOS_INCLUDE_INSTRUMENTATION
 117     PIOS_Instrumentation_Init(PIOS_INSTRUMENTATION_MAX_COUNTERS);
 118 #endif
 119
 120     /* Set up the SPI interface to the gyro/acelerometer */
 121     if (PIOS_SPI_Init(&pios_spi_gyro_adapter_id, &pios_spi_gyro_cfg)) {
 122         PIOS_DEBUG_Assert(0);
 123     }
 124
 125 #ifdef PIOS_INCLUDE_I2C
 126     if (PIOS_I2C_Init(&pios_i2c_eeprom_pressure_adapter_id, &pios_i2c_eeprom_pressure_adapter_cfg)) {
 127         PIOS_DEBUG_Assert(0);
 128     }
 129 #endif
 130 #if defined(PIOS_INCLUDE_FLASH)
 131     /* Connect flash to the appropriate interface and configure it */
 132
 133     uintptr_t flash_id = 0;
 134
 135     // Initialize the external USER flash
 136     if (PIOS_Flash_EEPROM_Init(&flash_id, &flash_main_chip_cfg, pios_i2c_eeprom_pressure_adapter_id, 0x50)) {
 137         PIOS_DEBUG_Assert(0);
 138     }
 139
 140     if (PIOS_FLASHFS_Init(&pios_uavo_settings_fs_id, &flash_main_fs_cfg, &pios_EEPROM_flash_driver, flash_id)) {
 141         PIOS_DEBUG_Assert(0);
 142     }
 143
 144 #endif /* if defined(PIOS_INCLUDE_FLASH) */
 145
 146 #if defined(PIOS_INCLUDE_RTC)
 147     PIOS_RTC_Init(&pios_rtc_main_cfg);
 148 #endif
 149     /* IAP System Setup */
 150     PIOS_IAP_Init();
 151     // check for safe mode commands from gcs
 152     if (PIOS_IAP_ReadBootCmd(0) == PIOS_IAP_CLEAR_FLASH_CMD_0 &&
 153         PIOS_IAP_ReadBootCmd(1) == PIOS_IAP_CLEAR_FLASH_CMD_1 &&
 154         PIOS_IAP_ReadBootCmd(2) == PIOS_IAP_CLEAR_FLASH_CMD_2) {
 155         PIOS_FLASHFS_Format(pios_uavo_settings_fs_id);
 156         PIOS_IAP_WriteBootCmd(0, 0);
 157         PIOS_IAP_WriteBootCmd(1, 0);
 158         PIOS_IAP_WriteBootCmd(2, 0);
 159     }
 160
 161 #ifdef PIOS_INCLUDE_WDG
 162     PIOS_WDG_Init();
 163 #endif
 164
 165     /* Initialize the task monitor */
 166     if (PIOS_TASK_MONITOR_Initialize(TASKINFO_RUNNING_NUMELEM)) {
 167         PIOS_Assert(0);
 168     }
 169
 170     /* Initialize the delayed callback library */
 171     PIOS_CALLBACKSCHEDULER_Initialize();
 172
 173     /* Initialize UAVObject libraries */
 174     EventDispatcherInitialize();
 175     UAVObjInitialize();
 176     SETTINGS_INITIALISE_ALL;
 177
 178     /* Initialize the alarms library */
 179     AlarmsInitialize();
 180
 181     /* Set up pulse timers */
 182     PIOS_TIM_InitClock(&tim_1_cfg);
 183     PIOS_TIM_InitClock(&tim_2_cfg);
 184     PIOS_TIM_InitClock(&tim_3_cfg);
 185     PIOS_TIM_InitClock(&tim_5_cfg);
 186     PIOS_TIM_InitClock(&tim_9_cfg);
 187     PIOS_TIM_InitClock(&tim_10_cfg);
 188     PIOS_TIM_InitClock(&tim_11_cfg);
 189
 190     uint16_t boot_count = PIOS_IAP_ReadBootCount();
 191     if (boot_count < 3) {
 192         PIOS_IAP_WriteBootCount(++boot_count);
 193         AlarmsClear(SYSTEMALARMS_ALARM_BOOTFAULT);
 194     } else {
 195         /* Too many failed boot attempts, force hwsettings to defaults */
 196         HwSettingsSetDefaults(HwSettingsHandle(), 0);
 197         AlarmsSet(SYSTEMALARMS_ALARM_BOOTFAULT, SYSTEMALARMS_ALARM_CRITICAL);
 198     }
 199
 200 #if defined(PIOS_INCLUDE_USB)
 201     PIOS_BOARD_IO_Configure_USB();
 202 #endif
 203
 204     /* Configure FlexiPort */
 205     uint8_t hwsettings_flexiport;
 206     HwSettingsRM_FlexiPortGet(&hwsettings_flexiport);
 207
 208     if (hwsettings_flexiport < NELEMENTS(flexi_function_map)) {
 209         PIOS_BOARD_IO_Configure_UART(&pios_usart_flexi_cfg, flexi_function_map[hwsettings_flexiport]);
 210     }
 211
 212 #if defined(PIOS_INCLUDE_I2C)
 213     if (hwsettings_flexiport == HWSETTINGS_RM_FLEXIPORT_I2C) {
 214         if (PIOS_I2C_Init(&pios_i2c_flexiport_adapter_id, &pios_i2c_flexiport_adapter_cfg)) {
 215             PIOS_Assert(0);
 216         }
 217     }
 218 #endif
 219
 220     /* Configure MainPort */
 221     uint8_t hwsettings_mainport;
 222     HwSettingsRM_MainPortGet(&hwsettings_mainport);
 223
 224     if (hwsettings_mainport < NELEMENTS(main_function_map)) {
 225         PIOS_BOARD_IO_Configure_UART(&pios_usart_main_cfg, main_function_map[hwsettings_mainport]);
 226     }
 227
 228 #if defined(PIOS_INCLUDE_PWM) || defined(PIOS_INCLUDE_PPM)
 229
 230     const struct pios_servo_cfg *pios_servo_cfg;
 231     // default to servo outputs only
 232     pios_servo_cfg = &pios_servo_cfg_out;
 233 #endif
 234
 235     /* Configure the receiver port*/
 236     uint8_t hwsettings_rcvrport;
 237     HwSettingsRM_RcvrPortGet(&hwsettings_rcvrport);
 238     //
 239     switch (hwsettings_rcvrport) {
 240     case HWSETTINGS_RM_RCVRPORT_DISABLED:
 241         break;
 242     case HWSETTINGS_RM_RCVRPORT_PWM:
 243 #if defined(PIOS_INCLUDE_PWM)
 244         /* Set up the receiver port.  Later this should be optional */
 245         PIOS_BOARD_IO_Configure_PWM_RCVR(&pios_pwm_cfg);
 246 #endif /* PIOS_INCLUDE_PWM */
 247         break;
 248     case HWSETTINGS_RM_RCVRPORT_PPM:
 249     case HWSETTINGS_RM_RCVRPORT_PPMOUTPUTS:
 250     case HWSETTINGS_RM_RCVRPORT_PPMPWM:
 251 #if defined(PIOS_INCLUDE_PPM)
 252         if (hwsettings_rcvrport == HWSETTINGS_RM_RCVRPORT_PPMOUTPUTS) {
 253             // configure servo outputs and the remaining 5 inputs as outputs
 254             pios_servo_cfg = &pios_servo_cfg_out_in_ppm;
 255         }
 256
 257         PIOS_BOARD_IO_Configure_PPM_RCVR(&pios_ppm_cfg);
 258
 259         break;
 260 #endif /* PIOS_INCLUDE_PPM */
 261     case HWSETTINGS_RM_RCVRPORT_OUTPUTS:
 262         // configure only the servo outputs
 263         pios_servo_cfg = &pios_servo_cfg_out_in;
 264         break;
 265     }
 266
 267
 268 #ifdef PIOS_INCLUDE_GCSRCVR
 269     PIOS_BOARD_IO_Configure_GCS_RCVR();
 270 #endif
 271
 272 #ifdef PIOS_INCLUDE_OPLINKRCVR
 273     PIOS_BOARD_IO_Configure_OPLink_RCVR();
 274 #endif
 275
 276 #ifdef PIOS_INCLUDE_WS2811
 277 #include <pios_ws2811.h>
 278     HwSettingsWS2811LED_OutOptions ws2811_pin_settings;
 279     HwSettingsWS2811LED_OutGet(&ws2811_pin_settings);
 280
 281     // No other choices but servo pin 1 on nano
 282     if (ws2811_pin_settings != HWSETTINGS_WS2811LED_OUT_DISABLED) {
 283         pios_tim_servoport_all_pins[0] = dummmy_timer; // free timer 1
 284         PIOS_WS2811_Init(&pios_ws2811_id, &pios_ws2811_cfg, &pios_ws2811_pin_cfg[0]);
 285     }
 286 #endif // PIOS_INCLUDE_WS2811
 287
 288
 289 #ifndef PIOS_ENABLE_DEBUG_PINS
 290     // pios_servo_cfg points to the correct configuration based on input port settings
 291     PIOS_Servo_Init(pios_servo_cfg);
 292 #else
 293     PIOS_DEBUG_Init(pios_tim_servoport_all_pins, NELEMENTS(pios_tim_servoport_all_pins));
 294 #endif
 295
 296     PIOS_DELAY_WaitmS(50);
 297
 298     PIOS_BOARD_Sensors_Configure();
 299
 300     // Attach the board config check hook
 301     SANITYCHECK_AttachHook(&RevoNanoConfigHook);
 302     // trigger a config check if actuatorsettings are updated
 303     ActuatorSettingsConnectCallback(ActuatorSettingsUpdatedCb);
 304 }
 305
 306 SystemAlarmsExtendedAlarmStatusOptions RevoNanoConfigHook()
 307 {
 308     // inhibit usage of oneshot for non supported RECEIVER port modes
 309     uint8_t recmode;
 310
 311     HwSettingsRM_RcvrPortGet(&recmode);
 312     uint8_t modes[ACTUATORSETTINGS_BANKMODE_NUMELEM];
 313     ActuatorSettingsBankModeGet(modes);
 314
 315     switch ((HwSettingsRM_RcvrPortOptions)recmode) {
 316     // Those modes allows oneshot usage
 317     case HWSETTINGS_RM_RCVRPORT_DISABLED:
 318     case HWSETTINGS_RM_RCVRPORT_PPM:
 319     case HWSETTINGS_RM_RCVRPORT_PPMOUTPUTS:
 320     case HWSETTINGS_RM_RCVRPORT_OUTPUTS:
 321         return SYSTEMALARMS_EXTENDEDALARMSTATUS_NONE;
 322
 323     // inhibit oneshot for the following modes
 324     case HWSETTINGS_RM_RCVRPORT_PWM:
 325         for (uint8_t i = 0; i < ACTUATORSETTINGS_BANKMODE_NUMELEM; i++) {
 326             if (modes[i] == ACTUATORSETTINGS_BANKMODE_PWMSYNC ||
 327                 modes[i] == ACTUATORSETTINGS_BANKMODE_ONESHOT125 ||
 328                 modes[i] == ACTUATORSETTINGS_BANKMODE_ONESHOT42 ||
 329                 modes[i] == ACTUATORSETTINGS_BANKMODE_MULTISHOT) {
 330                 return SYSTEMALARMS_EXTENDEDALARMSTATUS_UNSUPPORTEDCONFIG_ONESHOT;;
 331             }
 332         }
 333
 334         return SYSTEMALARMS_EXTENDEDALARMSTATUS_NONE;
 335
 336     default:
 337         break;
 338     }
 339
 340     return SYSTEMALARMS_EXTENDEDALARMSTATUS_UNSUPPORTEDCONFIG_ONESHOT;;
 341 }
 342
 343 // trigger a configuration check if ActuatorSettings are changed.
 344 void ActuatorSettingsUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
 345 {
 346     configuration_check();
 347 }
 348 /**
 349  * @}
 350  * @}
 351  */