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

   1 /**
   2  ******************************************************************************
   3  *
   4  * @file       pios_board.c
   5  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
   6  * @brief      Defines board specific static initializers for hardware for the OpenPilot board.
   7  * @see        The GNU Public License (GPL) Version 3
   8  *
   9  *****************************************************************************/
  10 /*
  11  * This program is free software; you can redistribute it and/or modify
  12  * it under the terms of the GNU General Public License as published by
  13  * the Free Software Foundation; either version 3 of the License, or
  14  * (at your option) any later version.
  15  *
  16  * This program is distributed in the hope that it will be useful, but
  17  * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
  18  * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
  19  * for more details.
  20  *
  21  * You should have received a copy of the GNU General Public License along
  22  * with this program; if not, write to the Free Software Foundation, Inc.,
  23  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  24  */
  25
  26 #include "inc/openpilot.h"
  27 #include <pios_com_priv.h>
  28 #include <pios_tcp_priv.h>
  29 #include <pios_udp_priv.h>
  30 #include <pios_rcvr_priv.h>
  31 #include <pios_gcsrcvr_priv.h>
  32 #include <uavobjectsinit.h>
  33
  34 #include <accelssensor.h>
  35 #include <barosensor.h>
  36 #include <gpspositionsensor.h>
  37 #include <gyrosensor.h>
  38 #include <magsensor.h>
  39 #include <manualcontrolsettings.h>
  40
  41 void Stack_Change() {}
  42
  43 void Stack_Change_Weak() {}
  44
  45
  46 const struct pios_tcp_cfg pios_tcp_telem_cfg = {
  47     .ip   = "0.0.0.0",
  48     .port = 9001,
  49 };
  50
  51 const struct pios_udp_cfg pios_udp_telem_cfg = {
  52     .ip   = "0.0.0.0",
  53     .port = 9001,
  54 };
  55
  56 const struct pios_tcp_cfg pios_tcp_gps_cfg = {
  57     .ip   = "0.0.0.0",
  58     .port = 9001,
  59 };
  60 const struct pios_tcp_cfg pios_tcp_debug_cfg = {
  61     .ip   = "0.0.0.0",
  62     .port = 9002,
  63 };
  64
  65 #ifdef PIOS_COM_AUX
  66 /*
  67  * AUX USART
  68  */
  69 const struct pios_tcp_cfg pios_tcp_aux_cfg = {
  70     .ip   = "0.0.0.0",
  71     .port = 9003,
  72 };
  73 #endif
  74
  75 #define PIOS_COM_TELEM_RF_RX_BUF_LEN 192
  76 #define PIOS_COM_TELEM_RF_TX_BUF_LEN 192
  77 #define PIOS_COM_GPS_RX_BUF_LEN      96
  78
  79 /*
  80  * Board specific number of devices.
  81  */
  82 /*
  83    struct pios_udp_dev pios_udp_devs[] = {
  84    #define PIOS_UDP_TELEM  0
  85    {
  86     .cfg = &pios_udp0_cfg,
  87    },
  88    #define PIOS_UDP_GPS    1
  89    {
  90     .cfg = &pios_udp1_cfg,
  91    },
  92    #define PIOS_UDP_LOCAL    2
  93    {
  94     .cfg = &pios_udp2_cfg,
  95    },
  96    #ifdef PIOS_COM_AUX
  97    #define PIOS_UDP_AUX    3
  98    {
  99     .cfg = &pios_udp3_cfg,
 100    },
 101    #endif
 102    };
 103
 104    uint8_t pios_udp_num_devices = NELEMENTS(pios_udp_devs);
 105  */
 106 /*
 107  * COM devices
 108  */
 109
 110 /*
 111  * Board specific number of devices.
 112  */
 113 extern const struct pios_com_driver pios_serial_com_driver;
 114 extern const struct pios_com_driver pios_udp_com_driver;
 115 extern const struct pios_com_driver pios_tcp_com_driver;
 116
 117 uint32_t pios_com_telem_rf_id;
 118 uint32_t pios_com_telem_usb_id;
 119 uint32_t pios_com_gps_id;
 120 uint32_t pios_com_aux_id;
 121 uint32_t pios_com_spectrum_id;
 122 uint32_t pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE];
 123
 124 /**
 125  * PIOS_Board_Init()
 126  * initializes all the core systems on this specific hardware
 127  * called from System/openpilot.c
 128  */
 129 void PIOS_Board_Init(void)
 130 {
 131     /* Delay system */
 132     PIOS_DELAY_Init();
 133
 134     /* Initialize the delayed callback library */
 135     PIOS_CALLBACKSCHEDULER_Initialize();
 136
 137     /* Initialize UAVObject libraries */
 138     EventDispatcherInitialize();
 139     UAVObjInitialize();
 140     UAVObjectsInitializeAll();
 141
 142     AccelSensorInitialize();
 143     BaroSensorInitialize();
 144     MagSensorInitialize();
 145     GPSPositionSensorInitialize();
 146     GyroSensorInitialize();
 147
 148     /* Initialize the alarms library */
 149     AlarmsInitialize();
 150
 151     /* Initialize the task monitor */
 152     if (PIOS_TASK_MONITOR_Initialize(TASKINFO_RUNNING_NUMELEM)) {
 153         PIOS_Assert(0);
 154     }
 155
 156 #if defined(PIOS_INCLUDE_COM)
 157 #if defined(PIOS_INCLUDE_TELEMETRY_RF) && 1
 158     {
 159         uint32_t pios_tcp_telem_rf_id;
 160         if (PIOS_TCP_Init(&pios_tcp_telem_rf_id, &pios_tcp_telem_cfg)) {
 161             PIOS_Assert(0);
 162         }
 163
 164         uint8_t *rx_buffer = (uint8_t *)pvPortMalloc(PIOS_COM_TELEM_RF_RX_BUF_LEN);
 165         uint8_t *tx_buffer = (uint8_t *)pvPortMalloc(PIOS_COM_TELEM_RF_TX_BUF_LEN);
 166         PIOS_Assert(rx_buffer);
 167         PIOS_Assert(tx_buffer);
 168         if (PIOS_COM_Init(&pios_com_telem_rf_id, &pios_tcp_com_driver, pios_tcp_telem_rf_id,
 169                           rx_buffer, PIOS_COM_TELEM_RF_RX_BUF_LEN,
 170                           tx_buffer, PIOS_COM_TELEM_RF_TX_BUF_LEN)) {
 171             PIOS_Assert(0);
 172         }
 173     }
 174 #endif /* PIOS_INCLUDE_TELEMETRY_RF */
 175
 176 #if defined(PIOS_INCLUDE_TELEMETRY_RF) && 0
 177     {
 178         uint32_t pios_udp_telem_rf_id;
 179         if (PIOS_UDP_Init(&pios_udp_telem_rf_id, &pios_udp_telem_cfg)) {
 180             PIOS_Assert(0);
 181         }
 182
 183         uint8_t *rx_buffer = (uint8_t *)pvPortMalloc(PIOS_COM_TELEM_RF_RX_BUF_LEN);
 184         uint8_t *tx_buffer = (uint8_t *)pvPortMalloc(PIOS_COM_TELEM_RF_TX_BUF_LEN);
 185         PIOS_Assert(rx_buffer);
 186         PIOS_Assert(tx_buffer);
 187         if (PIOS_COM_Init(&pios_com_telem_rf_id, &pios_udp_com_driver, pios_udp_telem_rf_id,
 188                           rx_buffer, PIOS_COM_TELEM_RF_RX_BUF_LEN,
 189                           tx_buffer, PIOS_COM_TELEM_RF_TX_BUF_LEN)) {
 190             PIOS_Assert(0);
 191         }
 192     }
 193 #endif /* PIOS_INCLUDE_TELEMETRY_RF */
 194
 195
 196 #if defined(PIOS_INCLUDE_GPS)
 197     {
 198         uint32_t pios_tcp_gps_id;
 199         if (PIOS_TCP_Init(&pios_tcp_gps_id, &pios_tcp_gps_cfg)) {
 200             PIOS_Assert(0);
 201         }
 202         uint8_t *rx_buffer = (uint8_t *)pvPortMalloc(PIOS_COM_GPS_RX_BUF_LEN);
 203         PIOS_Assert(rx_buffer);
 204         if (PIOS_COM_Init(&pios_com_gps_id, &pios_tcp_com_driver, pios_tcp_gps_id,
 205                           rx_buffer, PIOS_COM_GPS_RX_BUF_LEN,
 206                           NULL, 0)) {
 207             PIOS_Assert(0);
 208         }
 209     }
 210 #endif /* PIOS_INCLUDE_GPS */
 211 #endif /* if defined(PIOS_INCLUDE_COM) */
 212
 213 #if defined(PIOS_INCLUDE_GCSRCVR)
 214     GCSReceiverInitialize();
 215     uint32_t pios_gcsrcvr_id;
 216     PIOS_GCSRCVR_Init(&pios_gcsrcvr_id);
 217     uint32_t pios_gcsrcvr_rcvr_id;
 218     if (PIOS_RCVR_Init(&pios_gcsrcvr_rcvr_id, &pios_gcsrcvr_rcvr_driver, pios_gcsrcvr_id)) {
 219         PIOS_Assert(0);
 220     }
 221     pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_GCS] = pios_gcsrcvr_rcvr_id;
 222 #endif /* PIOS_INCLUDE_GCSRCVR */
 223 }
 224
 225 /**
 226  * @}
 227  */