pios_board.c

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/*
 * This program is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
 * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
 * for more details.
 *
 * You should have received a copy of the GNU General Public License along
 * with this program; if not, see <http://www.gnu.org/licenses/>
 */

/* Pull in the board-specific static HW definitions.
 * Including .c files is a bit ugly but this allows all of
 * the HW definitions to be const and static to limit their
 * scope.
 *
 * NOTE: THIS IS THE ONLY PLACE THAT SHOULD EVER INCLUDE THIS FILE
 */

#include "board_hw_defs.c"

#include <pios.h>
#include <pios_hal.h>
#include <openpilot.h>
#include <uavobjectsinit.h>
#include "hwbrain.h"
#include "modulesettings.h"
#include "manualcontrolsettings.h"
#include "onscreendisplaysettings.h"

uintptr_t pios_internal_adc_id;
uintptr_t pios_com_logging_id;
uintptr_t pios_com_openlog_logging_id;

uintptr_t pios_uavo_settings_fs_id;

#if defined(PIOS_INCLUDE_VIDEO)
void OSD_configure_bw_levels(void)
{
        GPIO_InitTypeDef GPIO_InitStructure;
        TIM_OCInitTypeDef  TIM_OCInitStructure;
        TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;

        /* --------------------------- System Clocks Configuration -----------------*/
        /* TIM1 clock enable */
        RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE);

        /* GPIOA clock enable */
        RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);

        /* Connect TIM1 pins to AF */
        GPIO_PinAFConfig(GPIOA, GPIO_PinSource8, GPIO_AF_TIM1);
        GPIO_PinAFConfig(GPIOA, GPIO_PinSource10, GPIO_AF_TIM1);

        /*-------------------------- GPIO Configuration ----------------------------*/
        GPIO_StructInit(&GPIO_InitStructure); // Reset init structure
        GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8 | GPIO_Pin_10;
        GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
        GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
        GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
        GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
        GPIO_Init(GPIOA, &GPIO_InitStructure);


        /* Time base configuration */
        TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
        TIM_TimeBaseStructure.TIM_Prescaler = (PIOS_SYSCLK / 25500000) - 1; // Get clock to 25 MHz on STM32F2/F4
        TIM_TimeBaseStructure.TIM_Period = 255;
        TIM_TimeBaseStructure.TIM_ClockDivision = 0;
        TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
        TIM_TimeBaseInit(TIM1, &TIM_TimeBaseStructure);

        /* Enable TIM1 Preload register on ARR */
        TIM_ARRPreloadConfig(TIM1, ENABLE);

        /* TIM PWM1 Mode configuration */
        TIM_OCStructInit(&TIM_OCInitStructure);
        TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
        TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
        TIM_OCInitStructure.TIM_Pulse = 90;
        TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;

        /* Output Compare PWM1 Mode configuration: Channel1 PA.08 */
        TIM_OC1Init(TIM1, &TIM_OCInitStructure);
        TIM_OC1PreloadConfig(TIM1, TIM_OCPreload_Enable);
        TIM_OC3Init(TIM1, &TIM_OCInitStructure);
        TIM_OC3PreloadConfig(TIM1, TIM_OCPreload_Enable);

        /* TIM1 Main Output Enable */
        TIM_CtrlPWMOutputs(TIM1, ENABLE);

        /* TIM1 enable counter */
        TIM_Cmd(TIM1, ENABLE);
        TIM1->CCR1 = 30;
        TIM1->CCR3 = 110;
}
#endif /* PIOS_INCLUDE_VIDEO */

#include <pios_board_info.h>

void PIOS_Board_Init(void) {
        bool use_rxport_usart = false;

#if defined(PIOS_INCLUDE_ANNUNC)
        PIOS_ANNUNC_Init(&pios_annunc_cfg);
#endif  /* PIOS_INCLUDE_ANNUNC */

#if defined(PIOS_INCLUDE_I2C)
        if (PIOS_I2C_Init(&pios_i2c_internal_id, &pios_i2c_internal_cfg)) {
                PIOS_DEBUG_Assert(0);
        }
        if (PIOS_I2C_CheckClear(pios_i2c_internal_id) != 0)
                PIOS_HAL_CriticalError(PIOS_LED_ALARM, PIOS_HAL_PANIC_I2C_INT);
#endif

#if defined(PIOS_INCLUDE_SPI)
        if (PIOS_SPI_Init(&pios_spi_flash_id, &pios_spi_flash_cfg)) {
                PIOS_DEBUG_Assert(0);
        }
#endif

#if defined(PIOS_INCLUDE_FLASH)
        /* Inititialize all flash drivers */
        if (PIOS_Flash_Internal_Init(&pios_internal_flash_id, &flash_internal_cfg) != 0)
                PIOS_HAL_CriticalError(PIOS_LED_ALARM, PIOS_HAL_PANIC_FLASH);
        if (PIOS_Flash_Jedec_Init(&pios_external_flash_id, pios_spi_flash_id, 0, &flash_mx25_cfg) != 0)
                PIOS_HAL_CriticalError(PIOS_LED_ALARM, PIOS_HAL_PANIC_FLASH);

        /* Register the partition table */
        PIOS_FLASH_register_partition_table(pios_flash_partition_table, NELEMENTS(pios_flash_partition_table));

        /* Mount all filesystems */
        if (PIOS_FLASHFS_Logfs_Init(&pios_uavo_settings_fs_id, &flashfs_settings_cfg, FLASH_PARTITION_LABEL_SETTINGS) != 0)
                PIOS_HAL_CriticalError(PIOS_LED_ALARM, PIOS_HAL_PANIC_FILESYS);
#endif  /* PIOS_INCLUDE_FLASH */

        HwBrainInitialize();
        ModuleSettingsInitialize();

#if defined(PIOS_INCLUDE_RTC)
        /* Initialize the real-time clock and its associated tick */
        PIOS_RTC_Init(&pios_rtc_main_cfg);
#endif

        /* Initialize watchdog as early as possible to catch faults during init
         * but do it only if there is no debugger connected
         */
        if ((CoreDebug->DHCSR & CoreDebug_DHCSR_C_DEBUGEN_Msk) == 0) {
                PIOS_WDG_Init();
        }

        /* Initialize the alarms library */
        AlarmsInitialize();
        PIOS_RESET_Clear();

        /* Set up pulse timers */
        //inputs
        PIOS_TIM_InitClock(&tim_8_cfg);
        PIOS_TIM_InitClock(&tim_12_cfg);
        //outputs
        PIOS_TIM_InitClock(&tim_5_cfg);

        /* IAP System Setup */
        PIOS_IAP_Init();
        uint16_t boot_count = PIOS_IAP_ReadBootCount();
        if (boot_count < 3) {
                PIOS_IAP_WriteBootCount(++boot_count);
                AlarmsClear(SYSTEMALARMS_ALARM_BOOTFAULT);
        } else {
                /* Too many failed boot attempts, force hw config to defaults */
                HwBrainSetDefaults(HwBrainHandle(), 0);
                ModuleSettingsSetDefaults(ModuleSettingsHandle(),0);
                AlarmsSet(SYSTEMALARMS_ALARM_BOOTFAULT, SYSTEMALARMS_ALARM_CRITICAL);
        }

#if defined(PIOS_INCLUDE_USB)
        /* Initialize board specific USB data */
        PIOS_USB_BOARD_DATA_Init();

        /* Flags to determine if various USB interfaces are advertised */
        bool usb_hid_present = false;
        bool usb_cdc_present = false;

#if defined(PIOS_INCLUDE_USB_CDC)
        if (PIOS_USB_DESC_HID_CDC_Init()) {
                PIOS_Assert(0);
        }
        usb_hid_present = true;
        usb_cdc_present = true;
#else
        if (PIOS_USB_DESC_HID_ONLY_Init()) {
                PIOS_Assert(0);
        }
        usb_hid_present = true;
#endif

        uintptr_t pios_usb_id;
        PIOS_USB_Init(&pios_usb_id, &pios_usb_main_cfg);

#if defined(PIOS_INCLUDE_USB_CDC)

        uint8_t hw_usb_vcpport;
        /* Configure the USB VCP port */
        HwBrainUSB_VCPPortGet(&hw_usb_vcpport);

        if (!usb_cdc_present) {
                /* Force VCP port function to disabled if we haven't advertised VCP in our USB descriptor */
                hw_usb_vcpport = HWBRAIN_USB_VCPPORT_DISABLED;
        }

        PIOS_HAL_ConfigureCDC(hw_usb_vcpport, pios_usb_id, &pios_usb_cdc_cfg);
        
#endif  /* PIOS_INCLUDE_USB_CDC */

#if defined(PIOS_INCLUDE_USB_HID)
        /* Configure the usb HID port */
        uint8_t hw_usb_hidport;
        HwBrainUSB_HIDPortGet(&hw_usb_hidport);

        if (!usb_hid_present) {
                /* Force HID port function to disabled if we haven't advertised HID in our USB descriptor */
                hw_usb_hidport = HWBRAIN_USB_HIDPORT_DISABLED;
        }

        PIOS_HAL_ConfigureHID(hw_usb_hidport, pios_usb_id, &pios_usb_hid_cfg);
        
#endif  /* PIOS_INCLUDE_USB_HID */

        if (usb_hid_present || usb_cdc_present) {
                PIOS_USBHOOK_Activate();
        }
#endif  /* PIOS_INCLUDE_USB */

        /* Configure the IO ports */
        HwBrainDSMxModeOptions hw_DSMxMode;
        HwBrainDSMxModeGet(&hw_DSMxMode);

        /* Main Port */
        uint8_t hw_mainport;
        HwBrainMainPortGet(&hw_mainport);

        PIOS_HAL_ConfigurePort(hw_mainport,          // port type protocol
                        &pios_mainport_cfg,                  // usart_port_cfg
                        &pios_usart_com_driver,              // com_driver
                        NULL,                                // i2c_id
                        NULL,                                // i2c_cfg
                        NULL,                                // ppm_cfg
                        NULL,                                // pwm_cfg
                        PIOS_LED_ALARM,                      // led_id
                        &pios_mainport_dsm_aux_cfg,          // dsm_cfg
                        0,                                   // dsm_mode
                        &pios_mainport_sbus_aux_cfg);        // sbus_cfg

        /* Flx Port */
        uint8_t hw_flxport;
        HwBrainFlxPortGet(&hw_flxport);

        PIOS_HAL_ConfigurePort(hw_flxport,           // port type protocol
                        &pios_flxport_cfg,                   // usart_port_cfg
                        &pios_usart_com_driver,              // com_driver
                        &pios_i2c_flexi_id,                  // i2c_id
                        &pios_i2c_flexi_cfg,                 // i2c_cfg
                        NULL,                                // ppm_cfg
                        NULL,                                // pwm_cfg
                        PIOS_LED_ALARM,                      // led_id
                        &pios_flxport_dsm_aux_cfg,           // dsm_cfg
                        hw_DSMxMode,                         // dsm_mode
                        NULL);                               // sbus_cfg

        /* Configure the rcvr port */
        uint8_t hw_rxport;
        HwBrainRxPortGet(&hw_rxport);

        switch (hw_rxport) {
        case HWBRAIN_RXPORT_DISABLED:
                break;

        case HWBRAIN_RXPORT_PWM:
                PIOS_HAL_ConfigurePort(HWSHARED_PORTTYPES_PWM,  // port type protocol
                                NULL,                                   // usart_port_cfg
                                NULL,                                   // com_driver
                                NULL,                                   // i2c_id
                                NULL,                                   // i2c_cfg
                                NULL,                                   // ppm_cfg
                                &pios_pwm_cfg,                          // pwm_cfg
                                PIOS_LED_ALARM,                         // led_id
                                NULL,                                   // dsm_cfg
                                0,                                      // dsm_mode
                                NULL);                                  // sbus_cfg
                break;

        case HWBRAIN_RXPORT_PPM:
        case HWBRAIN_RXPORT_PPMOUTPUTS:
                PIOS_HAL_ConfigurePort(HWSHARED_PORTTYPES_PPM,  // port type protocol
                                NULL,                                   // usart_port_cfg
                                NULL,                                   // com_driver
                                NULL,                                   // i2c_id
                                NULL,                                   // i2c_cfg
                                &pios_ppm_cfg,                          // ppm_cfg
                                NULL,                                   // pwm_cfg
                                PIOS_LED_ALARM,                         // led_id
                                NULL,                                   // dsm_cfg
                                0,                                      // dsm_mode
                                NULL);                                  // sbus_cfg
                break;

        case HWBRAIN_RXPORT_UART:
        case HWBRAIN_RXPORT_UARTOUTPUTS:
                use_rxport_usart = true;
                break;

        case HWBRAIN_RXPORT_PPMUART:
        case HWBRAIN_RXPORT_PPMUARTOUTPUTS:
                use_rxport_usart = true;

                PIOS_HAL_ConfigurePort(HWSHARED_PORTTYPES_PPM,  // port type protocol
                                NULL,                                   // usart_port_cfg
                                NULL,                                   // com_driver
                                NULL,                                   // i2c_id
                                NULL,                                   // i2c_cfg
                                &pios_ppm_cfg,                          // ppm_cfg
                                NULL,                                   // pwm_cfg
                                PIOS_LED_ALARM,                         // led_id
                                NULL,                                   // dsm_cfg
                                0,                                      // dsm_mode
                                NULL);                                  // sbus_cfg
                break;
        }

        /* Configure the RxPort USART */
        if (use_rxport_usart) {
                uint8_t hw_rxportusart;
                HwBrainRxPortUsartGet(&hw_rxportusart);

                PIOS_HAL_ConfigurePort(hw_rxportusart,       // port type protocol
                                &pios_rxportusart_cfg,               // usart_port_cfg
                                &pios_usart_com_driver,              // com_driver
                                NULL,                                // i2c_id
                                NULL,                                // i2c_cfg
                                NULL,                                // ppm_cfg
                                NULL,                                // pwm_cfg
                                PIOS_LED_ALARM,                      // led_id
                                &pios_rxportusart_dsm_aux_cfg,       // dsm_cfg
                                hw_DSMxMode,                         // dsm_mode
                                NULL);                               // sbus_cfg
        }

#if defined(PIOS_INCLUDE_SERVO) & defined(PIOS_INCLUDE_DMASHOT)
        PIOS_DMAShot_Init(&dmashot_config);
#endif // defined(PIOS_INCLUDE_DMASHOT)

#ifndef PIOS_DEBUG_ENABLE_DEBUG_PINS
        switch (hw_rxport) {
        case HWBRAIN_RXPORT_DISABLED:
        case HWBRAIN_RXPORT_PWM:
        case HWBRAIN_RXPORT_PPM:
        case HWBRAIN_RXPORT_UART:
        case HWBRAIN_RXPORT_PPMUART:
        /* Set up the servo outputs */
#ifdef PIOS_INCLUDE_SERVO
                PIOS_Servo_Init(&pios_servo_cfg);
#endif
                break;
        case HWBRAIN_RXPORT_PPMOUTPUTS:
#ifdef PIOS_INCLUDE_SERVO
                PIOS_Servo_Init(&pios_servo_rcvr_ppm_cfg);
#endif
                break;
        case HWBRAIN_RXPORT_PPMUARTOUTPUTS:
        case HWBRAIN_RXPORT_UARTOUTPUTS:
#ifdef PIOS_INCLUDE_SERVO
                PIOS_Servo_Init(&pios_servo_rcvr_ppm_uart_out_cfg);
#endif
                break;
        case HWBRAIN_RXPORT_OUTPUTS:
#ifdef PIOS_INCLUDE_SERVO
                PIOS_Servo_Init(&pios_servo_rcvr_all_cfg);
#endif
                break;
        }
#else
        PIOS_DEBUG_Init(&pios_tim_servo_all_channels, NELEMENTS(pios_tim_servo_all_channels));
#endif

#ifdef PIOS_INCLUDE_DAC
        PIOS_DAC_init(&pios_dac, &pios_dac_cfg);

        PIOS_HAL_ConfigureDAC(pios_dac);
#endif /* PIOS_INCLUDE_DAC */


        /* init sensor queue registration */
        PIOS_SENSORS_Init();

        //I2C is slow, sensor init as well, reset watchdog to prevent reset here
        PIOS_WDG_Clear();

#if defined(PIOS_INCLUDE_MS5611)
        if ((PIOS_MS5611_Init(&pios_ms5611_cfg, pios_i2c_internal_id) != 0)
                        || (PIOS_MS5611_Test() != 0))
                PIOS_HAL_CriticalError(PIOS_LED_ALARM, PIOS_HAL_PANIC_BARO);
#endif

        PIOS_WDG_Clear();

        /* Magnetometer selection */
        uint8_t hw_magnetometer;
        HwBrainMagnetometerGet(&hw_magnetometer);
        switch (hw_magnetometer) {
                case HWBRAIN_MAGNETOMETER_NONE:
                        pios_mpu_cfg.use_internal_mag = false;
                        break;

                case HWBRAIN_MAGNETOMETER_INTERNAL:
                        pios_mpu_cfg.use_internal_mag = true;
                        break;

                /* default external mags and handle them in PiOS HAL rather than maintaining list here */
                default:
                        pios_mpu_cfg.use_internal_mag = false;

                        if (hw_flxport == HWSHARED_PORTTYPES_I2C) {
                                uint8_t hw_orientation;
                                HwBrainExtMagOrientationGet(&hw_orientation);

                                PIOS_HAL_ConfigureExternalMag(hw_magnetometer, hw_orientation,
                                        &pios_i2c_flexi_id, &pios_i2c_flexi_cfg);
                        } else {
                                PIOS_SENSORS_SetMissing(PIOS_SENSOR_MAG);
                        }
                        break;
        }

#if defined(PIOS_INCLUDE_MPU)
        uint8_t hw_mpu9250_dlpf;
        HwBrainMPU9250GyroLPFGet(&hw_mpu9250_dlpf);
        uint16_t gyro_lpf = \
                (hw_mpu9250_dlpf == HWBRAIN_MPU9250GYROLPF_184) ? 184 : \
                (hw_mpu9250_dlpf == HWBRAIN_MPU9250GYROLPF_92) ? 92 : \
                (hw_mpu9250_dlpf == HWBRAIN_MPU9250GYROLPF_41) ? 41 : \
                (hw_mpu9250_dlpf == HWBRAIN_MPU9250GYROLPF_20) ? 20 : \
                (hw_mpu9250_dlpf == HWBRAIN_MPU9250GYROLPF_10) ? 10 : \
                (hw_mpu9250_dlpf == HWBRAIN_MPU9250GYROLPF_5) ? 5 : \
                184;

        HwBrainMPU9250AccelLPFGet(&hw_mpu9250_dlpf);
        uint16_t accel_lpf = \
                (hw_mpu9250_dlpf == HWBRAIN_MPU9250ACCELLPF_460) ? 460 : \
                (hw_mpu9250_dlpf == HWBRAIN_MPU9250ACCELLPF_184) ? 184 : \
                (hw_mpu9250_dlpf == HWBRAIN_MPU9250ACCELLPF_92) ? 92 : \
                (hw_mpu9250_dlpf == HWBRAIN_MPU9250ACCELLPF_41) ? 41 : \
                (hw_mpu9250_dlpf == HWBRAIN_MPU9250ACCELLPF_20) ? 20 : \
                (hw_mpu9250_dlpf == HWBRAIN_MPU9250ACCELLPF_10) ? 10 : \
                (hw_mpu9250_dlpf == HWBRAIN_MPU9250ACCELLPF_5) ? 5 : \
                184;

        pios_mpu_dev_t mpu_dev = NULL;
        int retval;
        retval = PIOS_MPU_I2C_Init(&mpu_dev, pios_i2c_internal_id, &pios_mpu_cfg);
        if (retval != 0)
                PIOS_HAL_CriticalError(PIOS_LED_ALARM, PIOS_HAL_PANIC_IMU);

        PIOS_MPU_SetGyroBandwidth(gyro_lpf);
        PIOS_MPU_SetAccelBandwidth(accel_lpf);

        // To be safe map from UAVO enum to driver enum
        uint8_t hw_gyro_range;
        HwBrainGyroFullScaleGet(&hw_gyro_range);
        switch (hw_gyro_range) {
                case HWBRAIN_GYROFULLSCALE_250:
                        PIOS_MPU_SetGyroRange(PIOS_MPU_SCALE_250_DEG);
                        break;
                case HWBRAIN_GYROFULLSCALE_500:
                        PIOS_MPU_SetGyroRange(PIOS_MPU_SCALE_500_DEG);
                        break;
                case HWBRAIN_GYROFULLSCALE_1000:
                        PIOS_MPU_SetGyroRange(PIOS_MPU_SCALE_1000_DEG);
                        break;
                case HWBRAIN_GYROFULLSCALE_2000:
                        PIOS_MPU_SetGyroRange(PIOS_MPU_SCALE_2000_DEG);
                        break;
        }

        uint8_t hw_accel_range;
        HwBrainAccelFullScaleGet(&hw_accel_range);
        switch (hw_accel_range) {
                case HWBRAIN_ACCELFULLSCALE_2G:
                        PIOS_MPU_SetAccelRange(PIOS_MPU_SCALE_2G);
                        break;
                case HWBRAIN_ACCELFULLSCALE_4G:
                        PIOS_MPU_SetAccelRange(PIOS_MPU_SCALE_4G);
                        break;
                case HWBRAIN_ACCELFULLSCALE_8G:
                        PIOS_MPU_SetAccelRange(PIOS_MPU_SCALE_8G);
                        break;
                case HWBRAIN_ACCELFULLSCALE_16G:
                        PIOS_MPU_SetAccelRange(PIOS_MPU_SCALE_16G);
                        break;
        }
#endif /* PIOS_INCLUDE_MPU9250_BRAIN */

        PIOS_WDG_Clear();

#if defined(PIOS_INCLUDE_ADC)
        uintptr_t internal_adc_id;
        PIOS_INTERNAL_ADC_Init(&internal_adc_id, &pios_adc_cfg);
        PIOS_ADC_Init(&pios_internal_adc_id, &pios_internal_adc_driver, internal_adc_id);
#endif

#if defined(PIOS_INCLUDE_VIDEO)
        // make sure the mask pin is low
        GPIO_Init(pios_video_cfg.mask.miso.gpio, (GPIO_InitTypeDef*)&pios_video_cfg.mask.miso.init);
        GPIO_ResetBits(pios_video_cfg.mask.miso.gpio, pios_video_cfg.mask.miso.init.GPIO_Pin);

        // Initialize settings
        OnScreenDisplaySettingsInitialize();

        uint8_t osd_state;
        OnScreenDisplaySettingsOSDEnabledGet(&osd_state);
        if (osd_state == ONSCREENDISPLAYSETTINGS_OSDENABLED_ENABLED) {
                OSD_configure_bw_levels();
        }
#endif

        /* Make sure we have at least one telemetry link configured or else fail initialization */
        PIOS_Assert(pios_com_telem_serial_id || pios_com_telem_usb_id);
}