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

   1 /**
   2  *****************************************************************************
   3  * @file       pios_board.c
   4  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
   5  * @author     PhoenixPilot, http://github.com/PhoenixPilot, Copyright (C) 2012
   6  * @addtogroup OpenPilotSystem OpenPilot System
   7  * @{
   8  * @addtogroup OpenPilotCore OpenPilot Core
   9  * @{
  10  * @brief Defines board specific static initializers for hardware for the CopterControl board.
  11  *****************************************************************************/
  12 /*
  13  * This program is free software; you can redistribute it and/or modify
  14  * it under the terms of the GNU General Public License as published by
  15  * the Free Software Foundation; either version 3 of the License, or
  16  * (at your option) any later version.
  17  *
  18  * This program is distributed in the hope that it will be useful, but
  19  * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
  20  * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
  21  * for more details.
  22  *
  23  * You should have received a copy of the GNU General Public License along
  24  * with this program; if not, write to the Free Software Foundation, Inc.,
  25  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  26  */
  27
  28 #include "inc/openpilot.h"
  29 #include <pios_board_info.h>
  30 #include <uavobjectsinit.h>
  31 #include <hwsettings.h>
  32 #include <manualcontrolsettings.h>
  33 #include <gcsreceiver.h>
  34
  35 /*
  36  * Pull in the board-specific static HW definitions.
  37  * Including .c files is a bit ugly but this allows all of
  38  * the HW definitions to be const and static to limit their
  39  * scope.
  40  *
  41  * NOTE: THIS IS THE ONLY PLACE THAT SHOULD EVER INCLUDE THIS FILE
  42  */
  43 #include "../board_hw_defs.c"
  44
  45 #define PIOS_COM_MAIN_RX_BUF_LEN 32
  46 #define PIOS_COM_MAIN_TX_BUF_LEN 128
  47
  48 uint32_t pios_com_main_id;
  49 uintptr_t flash_id;
  50 /**
  51  * PIOS_Board_Init()
  52  * initializes all the core subsystems on this specific hardware
  53  * called from System/openpilot.c
  54  */
  55 int32_t init_test;
  56 void PIOS_Board_Init(void)
  57 {
  58     /* Delay system */
  59     PIOS_DELAY_Init();
  60
  61     const struct pios_board_info *bdinfo = &pios_board_info_blob;
  62
  63 #if defined(PIOS_INCLUDE_LED)
  64     const struct pios_gpio_cfg *led_cfg  = PIOS_BOARD_HW_DEFS_GetLedCfg(bdinfo->board_rev);
  65     PIOS_Assert(led_cfg);
  66     PIOS_LED_Init(led_cfg);
  67 #endif /* PIOS_INCLUDE_LED */
  68
  69     /* Initialize watchdog as early as possible to catch faults during init */
  70 #ifdef PIOS_INCLUDE_WDG
  71     PIOS_WDG_Init();
  72 #endif
  73 #if defined(PIOS_INCLUDE_SPI)
  74     /* Set up the SPI interface to the serial flash */
  75     if (PIOS_SPI_Init(&pios_spi_mag_flash_id, &pios_spi_mag_flash_cfg)) {
  76         PIOS_Assert(0);
  77     }
  78
  79 #ifdef PIOS_INCLUDE_HMC5X83
  80     PIOS_SPI_SetClockSpeed(pios_spi_mag_flash_id, SPI_BaudRatePrescaler_16);
  81     onboard_mag = PIOS_HMC5x83_Init(&pios_mag_cfg, pios_spi_mag_flash_id, 0);
  82     if (PIOS_Flash_Jedec_Init(&flash_id, pios_spi_mag_flash_id, 1)) {
  83         PIOS_DEBUG_Assert(0);
  84     }
  85 #endif
  86
  87 #endif
  88
  89 #if defined(PIOS_INCLUDE_RTC)
  90     /* Initialize the real-time clock and its associated tick */
  91     PIOS_RTC_Init(&pios_rtc_main_cfg);
  92 #endif
  93     PIOS_IAP_Init();
  94
  95     /* Check for repeated boot failures */
  96     uint16_t boot_count = PIOS_IAP_ReadBootCount();
  97     if (boot_count < 3) {
  98         PIOS_IAP_WriteBootCount(++boot_count);
  99     }
 100
 101 #if defined(PIOS_INCLUDE_COM)
 102     {
 103         uint32_t pios_usart_generic_id;
 104         if (PIOS_USART_Init(&pios_usart_generic_id, &pios_usart_generic_main_cfg)) {
 105             PIOS_Assert(0);
 106         }
 107         uint8_t *rx_buffer = (uint8_t *)pvPortMalloc(PIOS_COM_MAIN_RX_BUF_LEN);
 108         PIOS_Assert(rx_buffer);
 109
 110         uint8_t *tx_buffer = (uint8_t *)pvPortMalloc(PIOS_COM_MAIN_TX_BUF_LEN);
 111         PIOS_Assert(tx_buffer);
 112         if (PIOS_COM_Init(&pios_com_main_id, &pios_usart_com_driver, pios_usart_generic_id,
 113                           rx_buffer, PIOS_COM_MAIN_RX_BUF_LEN,
 114                           tx_buffer, PIOS_COM_MAIN_TX_BUF_LEN)) {
 115             PIOS_Assert(0);
 116         }
 117
 118         PIOS_COM_ChangeBaud(pios_com_main_id, 57600);
 119     }
 120 #endif
 121
 122 #if defined(PIOS_INCLUDE_I2C)
 123     {
 124         if (PIOS_I2C_Init(&pios_i2c_gps_id, &pios_i2c_gps_cfg)) {
 125             flash_id = -1;
 126         }
 127     }
 128 #endif /* PIOS_INCLUDE_I2C */
 129 }
 130
 131 /**
 132  * @}
 133  */