flight/targets/boards/tinyfish/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 tinyFISH 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 <hwtinyfishsettings.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 #include <flightbatterysettings.h>
  41 #include <revosettings.h>
  42 #ifdef PIOS_INCLUDE_INSTRUMENTATION
  43 #include <pios_instrumentation.h>
  44 #endif
  45
  46 #include <pios_board_io.h>
  47 #include <pios_board_sensors.h>
  48
  49 /*
  50  * Pull in the board-specific static HW definitions.
  51  * Including .c files is a bit ugly but this allows all of
  52  * the HW definitions to be const and static to limit their
  53  * scope.
  54  *
  55  * NOTE: THIS IS THE ONLY PLACE THAT SHOULD EVER INCLUDE THIS FILE
  56  */
  57 #include "../board_hw_defs.c"
  58
  59 uintptr_t pios_uavo_settings_fs_id;
  60 uintptr_t pios_user_fs_id = 0;
  61
  62 #ifdef PIOS_INCLUDE_WS2811
  63 uint32_t pios_ws2811_id;
  64 #endif
  65
  66 void FlightBatterySettingsDataOverrideDefaults(FlightBatterySettingsData *data)
  67 {
  68     data->SensorCalibrations.VoltageFactor = 8.8f;
  69     data->SensorCalibrations.CurrentFactor = 0.07f;
  70 }
  71
  72 void RevoSettingsDataOverrideDefaults(RevoSettingsData *data)
  73 {
  74     /* This board has no barometer, so adjust default fusion algorithm to one that does not depend on working baro */
  75     data->FusionAlgorithm = REVOSETTINGS_FUSIONALGORITHM_ACRONOSENSORS;
  76 }
  77
  78 static HwTinyFISHSettingsData boardHwSettings;
  79
  80 static void hwTinyFISHSettingsUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
  81 {
  82     HwTinyFISHSettingsData currentBoardHwSettings;
  83
  84     HwTinyFISHSettingsGet(&currentBoardHwSettings);
  85
  86     if (memcmp(&currentBoardHwSettings, &boardHwSettings, sizeof(HwTinyFISHSettingsData)) != 0) {
  87         ExtendedAlarmsSet(SYSTEMALARMS_ALARM_BOOTFAULT, SYSTEMALARMS_ALARM_CRITICAL, SYSTEMALARMS_EXTENDEDALARMSTATUS_REBOOTREQUIRED, 0);
  88     }
  89 }
  90
  91 /**
  92  * PIOS_Board_Init()
  93  * initializes all the core subsystems on this specific hardware
  94  * called from System/openpilot.c
  95  */
  96
  97 void PIOS_Board_Init(void)
  98 {
  99 #if defined(PIOS_INCLUDE_LED)
 100     const struct pios_gpio_cfg *led_cfg = PIOS_BOARD_HW_DEFS_GetLedCfg(pios_board_info_blob.board_rev);
 101     PIOS_DEBUG_Assert(led_cfg);
 102     PIOS_LED_Init(led_cfg);
 103 #endif /* PIOS_INCLUDE_LED */
 104
 105 #ifdef PIOS_INCLUDE_INSTRUMENTATION
 106     PIOS_Instrumentation_Init(PIOS_INSTRUMENTATION_MAX_COUNTERS);
 107 #endif
 108
 109 #if defined(PIOS_INCLUDE_SPI)
 110     /* Set up the SPI interface to the mpu6000 */
 111
 112     if (PIOS_SPI_Init(&pios_spi1_id, &pios_spi1_cfg)) {
 113         PIOS_DEBUG_Assert(0);
 114     }
 115
 116     if (PIOS_SPI_Init(&pios_spi2_id, &pios_spi2_cfg)) {
 117         PIOS_DEBUG_Assert(0);
 118     }
 119 #endif
 120
 121 #if defined(PIOS_INCLUDE_FLASH)
 122     /* Connect flash to the appropriate interface and configure it */
 123     uintptr_t flash_id;
 124
 125     // initialize the internal settings storage flash
 126     if (PIOS_Flash_Internal_Init(&flash_id, &flash_internal_system_cfg)) {
 127         PIOS_DEBUG_Assert(0);
 128     }
 129
 130     if (PIOS_FLASHFS_Logfs_Init(&pios_uavo_settings_fs_id, &flashfs_internal_cfg, &pios_internal_flash_driver, flash_id)) {
 131         PIOS_DEBUG_Assert(0);
 132     }
 133
 134     /* init SPI flash here */
 135
 136 #endif /* if defined(PIOS_INCLUDE_FLASH) */
 137
 138     /* Initialize the task monitor */
 139     if (PIOS_TASK_MONITOR_Initialize(TASKINFO_RUNNING_NUMELEM)) {
 140         PIOS_Assert(0);
 141     }
 142
 143     /* Initialize the delayed callback library */
 144     PIOS_CALLBACKSCHEDULER_Initialize();
 145
 146     /* Initialize UAVObject libraries */
 147     EventDispatcherInitialize();
 148     UAVObjInitialize();
 149     SETTINGS_INITIALISE_ALL;
 150
 151 #if defined(PIOS_INCLUDE_RTC)
 152     /* Initialize the real-time clock and its associated tick */
 153     PIOS_RTC_Init(&pios_rtc_main_cfg);
 154 #endif
 155     PIOS_IAP_Init();
 156     // check for safe mode commands from gcs
 157     if (PIOS_IAP_ReadBootCmd(0) == PIOS_IAP_CLEAR_FLASH_CMD_0 &&
 158         PIOS_IAP_ReadBootCmd(1) == PIOS_IAP_CLEAR_FLASH_CMD_1 &&
 159         PIOS_IAP_ReadBootCmd(2) == PIOS_IAP_CLEAR_FLASH_CMD_2) {
 160         PIOS_FLASHFS_Format(pios_uavo_settings_fs_id);
 161         PIOS_IAP_WriteBootCmd(0, 0);
 162         PIOS_IAP_WriteBootCmd(1, 0);
 163         PIOS_IAP_WriteBootCmd(2, 0);
 164     }
 165
 166 #ifndef ERASE_FLASH
 167 #ifdef PIOS_INCLUDE_WDG
 168     /* Initialize watchdog as early as possible to catch faults during init */
 169     PIOS_WDG_Init();
 170 #endif
 171 #endif
 172
 173     /* Initialize the alarms library */
 174     AlarmsInitialize();
 175
 176     /* Check for repeated boot failures */
 177     uint16_t boot_count = PIOS_IAP_ReadBootCount();
 178     if (boot_count < 3) {
 179         PIOS_IAP_WriteBootCount(++boot_count);
 180         AlarmsClear(SYSTEMALARMS_ALARM_BOOTFAULT);
 181     } else {
 182         /* Too many failed boot attempts, force hwsettings to defaults */
 183         HwSettingsSetDefaults(HwSettingsHandle(), 0);
 184         HwTinyFISHSettingsSetDefaults(HwTinyFISHSettingsHandle(), 0);
 185
 186         AlarmsSet(SYSTEMALARMS_ALARM_BOOTFAULT, SYSTEMALARMS_ALARM_CRITICAL);
 187     }
 188
 189
 190     PIOS_TIM_InitClock(&tim_1_cfg);
 191     PIOS_TIM_InitClock(&tim_2_cfg);
 192 // PIOS_TIM_InitClock(&tim_3_cfg);
 193     PIOS_TIM_InitClock(&tim_4_cfg);
 194     PIOS_TIM_InitClock(&tim_8_cfg);
 195     PIOS_TIM_InitClock(&tim_15_cfg);
 196 // PIOS_TIM_InitClock(&tim_16_cfg);
 197 // PIOS_TIM_InitClock(&tim_17_cfg);
 198
 199 #if defined(PIOS_INCLUDE_USB)
 200     PIOS_BOARD_IO_Configure_USB();
 201 #endif
 202
 203     HwTinyFISHSettingsConnectCallback(hwTinyFISHSettingsUpdatedCb);
 204
 205     HwTinyFISHSettingsGet(&boardHwSettings);
 206
 207     static const PIOS_BOARD_IO_UART_Function uart_function_map[] = {
 208         [HWTINYFISHSETTINGS_UART3PORT_TELEMETRY] = PIOS_BOARD_IO_UART_TELEMETRY,
 209         [HWTINYFISHSETTINGS_UART3PORT_GPS]            = PIOS_BOARD_IO_UART_GPS,
 210         [HWTINYFISHSETTINGS_UART3PORT_SBUS]           = PIOS_BOARD_IO_UART_SBUS,
 211         [HWTINYFISHSETTINGS_UART3PORT_DSM]            = PIOS_BOARD_IO_UART_DSM_MAIN, // single DSM instance? ok.
 212         [HWTINYFISHSETTINGS_UART3PORT_EXBUS]          = PIOS_BOARD_IO_UART_EXBUS,
 213         [HWTINYFISHSETTINGS_UART3PORT_HOTTSUMD]       = PIOS_BOARD_IO_UART_HOTT_SUMD,
 214         [HWTINYFISHSETTINGS_UART3PORT_HOTTSUMH]       = PIOS_BOARD_IO_UART_HOTT_SUMH,
 215         [HWTINYFISHSETTINGS_UART3PORT_SRXL]           = PIOS_BOARD_IO_UART_SRXL,
 216         [HWTINYFISHSETTINGS_UART3PORT_IBUS]           = PIOS_BOARD_IO_UART_IBUS,
 217         [HWTINYFISHSETTINGS_UART3PORT_DEBUGCONSOLE]   = PIOS_BOARD_IO_UART_DEBUGCONSOLE,
 218         [HWTINYFISHSETTINGS_UART3PORT_COMBRIDGE]      = PIOS_BOARD_IO_UART_COMBRIDGE,
 219         [HWTINYFISHSETTINGS_UART3PORT_MSP]            = PIOS_BOARD_IO_UART_MSP,
 220         [HWTINYFISHSETTINGS_UART3PORT_MAVLINK]        = PIOS_BOARD_IO_UART_MAVLINK,
 221         [HWTINYFISHSETTINGS_UART3PORT_HOTTTELEMETRY]  = PIOS_BOARD_IO_UART_HOTT_BRIDGE,
 222         [HWTINYFISHSETTINGS_UART3PORT_FRSKYSENSORHUB] = PIOS_BOARD_IO_UART_FRSKY_SENSORHUB,
 223     };
 224
 225     if (boardHwSettings.UART3Port < NELEMENTS(uart_function_map)) {
 226         PIOS_BOARD_IO_Configure_UART(&pios_usart_cfg[2], uart_function_map[boardHwSettings.UART3Port]);
 227     }
 228
 229 #ifdef PIOS_INCLUDE_PPM
 230     if (boardHwSettings.UART3Port == HWTINYFISHSETTINGS_UART3PORT_PPM) {
 231         PIOS_BOARD_IO_Configure_PPM_RCVR(&pios_ppm_cfg);
 232     }
 233 #endif
 234     if (PIOS_COM_DEBUG) {
 235         PIOS_COM_ChangeBaud(PIOS_COM_DEBUG, 57600);
 236         DEBUG_PRINTF(0, "\r\n\r\ntinyFISH FC booting\r\n");
 237     }
 238
 239     /* Configure SBus as primary usart client.
 240      * PIOS_BOARD_IO_Configure_UART() will also lock COM port config so that secondary client cannot mess with settings */
 241     if (boardHwSettings.UART3Port != HWTINYFISHSETTINGS_UART3PORT_SBUS) {
 242         PIOS_BOARD_IO_Configure_UART(&pios_usart_cfg[1], PIOS_BOARD_IO_UART_SBUS_NOT_INVERTED);
 243     }
 244
 245     /* Configure Frsky SensorHub as secondary client. */
 246     if (boardHwSettings.UART3Port != HWTINYFISHSETTINGS_UART3PORT_FRSKYSENSORHUB) {
 247         PIOS_BOARD_IO_Configure_UART(&pios_usart_cfg[1], PIOS_BOARD_IO_UART_FRSKY_SENSORHUB);
 248     }
 249
 250     /* and what to do with UART1? There is RX_DEBUG only connected. Maybe make it into configurable ComBridge? */
 251     if (boardHwSettings.UART1Port == HWTINYFISHSETTINGS_UART1PORT_COMBRIDGE) {
 252         PIOS_BOARD_IO_Configure_UART(&pios_usart_cfg[0], PIOS_BOARD_IO_UART_COMBRIDGE);
 253     }
 254
 255 #ifdef PIOS_INCLUDE_GCSRCVR
 256     PIOS_BOARD_IO_Configure_GCS_RCVR();
 257 #endif
 258
 259 #ifdef PIOS_INCLUDE_OPLINKRCVR
 260     PIOS_BOARD_IO_Configure_OPLink_RCVR();
 261 #endif
 262
 263 #ifdef PIOS_ENABLE_DEBUG_PINS
 264     PIOS_DEBUG_Init(&pios_servo_cfg.channels, pios_servo_cfg.num_channels);
 265 #else
 266     if (boardHwSettings.UART3Port == HWTINYFISHSETTINGS_UART3PORT_OUTPUTS) {
 267         PIOS_Servo_Init(&pios_servo_uart3_cfg);
 268     } else {
 269         PIOS_Servo_Init(&pios_servo_cfg);
 270     }
 271 #endif /* PIOS_ENABLE_DEBUG_PINS */
 272
 273     switch (boardHwSettings.LEDPort) {
 274     case HWTINYFISHSETTINGS_LEDPORT_WS281X:
 275 #if defined(PIOS_INCLUDE_WS2811)
 276         PIOS_WS2811_Init(&pios_ws2811_id, &pios_ws2811_cfg);
 277 #endif
 278         break;
 279     default:
 280         break;
 281     }
 282
 283     PIOS_BOARD_Sensors_Configure();
 284
 285     PIOS_LED_On(PIOS_LED_HEARTBEAT);
 286 }
 287
 288
 289 /**
 290  * @}
 291  */