flight/targets/boards/coptercontrol/firmware/pios_board_posix.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_udp_priv.h>
  28 #include <pios_com_priv.h>
  29 #include <uavobjectsinit.h>
  30
  31 /**
  32  * PIOS_Board_Init()
  33  * initializes all the core systems on this specific hardware
  34  * called from System/openpilot.c
  35  */
  36 void PIOS_Board_Init(void)
  37 {
  38     /* Delay system */
  39     PIOS_DELAY_Init();
  40
  41     /* Initialize the delayed callback library */
  42     PIOS_CALLBACKSCHEDULER_Initialize();
  43
  44     /* Initialize UAVObject libraries */
  45     EventDispatcherInitialize();
  46     UAVObjInitialize();
  47
  48     /* Initialize the alarms library */
  49     AlarmsInitialize();
  50
  51     /* Initialize the task monitor */
  52     if (PIOS_TASK_MONITOR_Initialize(TASKINFO_RUNNING_NUMELEM)) {
  53         PIOS_Assert(0);
  54     }
  55
  56     /* Initialize the PiOS library */
  57     PIOS_COM_Init();
  58 }
  59
  60
  61 const struct pios_udp_cfg pios_udp0_cfg = {
  62     .ip   = "0.0.0.0",
  63     .port = 9000,
  64 };
  65 const struct pios_udp_cfg pios_udp1_cfg = {
  66     .ip   = "0.0.0.0",
  67     .port = 9001,
  68 };
  69 const struct pios_udp_cfg pios_udp2_cfg = {
  70     .ip   = "0.0.0.0",
  71     .port = 9002,
  72 };
  73
  74 #ifdef PIOS_COM_AUX
  75 /*
  76  * AUX USART
  77  */
  78 const struct pios_udp_cfg pios_udp3_cfg = {
  79     .ip   = "0.0.0.0",
  80     .port = 9003,
  81 };
  82 #endif
  83
  84 /*
  85  * Board specific number of devices.
  86  */
  87 struct pios_udp_dev pios_udp_devs[] = {
  88 #define PIOS_UDP_TELEM 0
  89     {
  90         .cfg = &pios_udp0_cfg,
  91     },
  92 #define PIOS_UDP_GPS   1
  93     {
  94         .cfg = &pios_udp1_cfg,
  95     },
  96 #define PIOS_UDP_LOCAL 2
  97     {
  98         .cfg = &pios_udp2_cfg,
  99     },
 100 #ifdef PIOS_COM_AUX
 101 #define PIOS_UDP_AUX   3
 102     {
 103         .cfg = &pios_udp3_cfg,
 104     },
 105 #endif
 106 };
 107
 108 uint8_t pios_udp_num_devices = NELEMENTS(pios_udp_devs);
 109
 110 /*
 111  * COM devices
 112  */
 113
 114 /*
 115  * Board specific number of devices.
 116  */
 117 extern const struct pios_com_driver pios_serial_com_driver;
 118 extern const struct pios_com_driver pios_udp_com_driver;
 119
 120 struct pios_com_dev pios_com_devs[] = {
 121     {
 122         .id     = PIOS_UDP_TELEM,
 123         .driver = &pios_udp_com_driver,
 124     },
 125     {
 126         .id     = PIOS_UDP_GPS,
 127         .driver = &pios_udp_com_driver,
 128     },
 129     {
 130         .id     = PIOS_UDP_LOCAL,
 131         .driver = &pios_udp_com_driver,
 132     },
 133 #ifdef PIOS_COM_AUX
 134     {
 135         .id     = PIOS_UDP_AUX,
 136         .driver = &pios_udp_com_driver,
 137     },
 138 #endif
 139 };
 140
 141 const uint8_t pios_com_num_devices = NELEMENTS(pios_com_devs);
 142
 143 /**
 144  * @}
 145  */