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/>
 *
 * Additional note on redistribution: The copyright and license notices above
 * must be maintained in each individual source file that is a derivative work
 * of this source file; otherwise redistribution is prohibited.
 */

/* 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 <misc_math.h>
#include <uavobjectsinit.h>
#include "pios_flash_jedec_priv.h"

#include "hwbrainre1.h"
#include "flightbatterysettings.h"
#include "flightstatus.h"
#include "modulesettings.h"
#include "manualcontrolsettings.h"
#include "onscreendisplaysettings.h"
#include "rgbledsettings.h"

#include "pios_ir_transponder.h"

uintptr_t pios_com_logging_id;
uintptr_t pios_com_openlog_logging_id;
uintptr_t pios_internal_adc_id;
uintptr_t pios_uavo_settings_fs_id;

ws2811_dev_t pios_ws2811;

static void settingsUpdatedCb(const UAVObjEvent *ev,
                void *ctx, void *obj, int len)
{
        (void) ev; (void) ctx; (void) len;

        HwBrainRE1Data * hwre1data = (HwBrainRE1Data *)obj;

        /* Configure the IR emitter for lap timing */
        uint8_t ir_data[6];

        switch (hwre1data->IRProtocol) {
                case HWBRAINRE1_IRPROTOCOL_DISABLED:
                        PIOS_RE1FPGA_SetIRProtocol(PIOS_RE1FPGA_IR_PROTOCOL_OFF);
                        break;
                case HWBRAINRE1_IRPROTOCOL_ILAP:
                        pios_ir_generate_ilap_packet(hwre1data->IRIDILap, ir_data, 6);
                        PIOS_RE1FPGA_SetIRData(ir_data, 6);
                        PIOS_RE1FPGA_SetIRProtocol(PIOS_RE1FPGA_IR_PROTOCOL_ILAP);
                        break;
                case HWBRAINRE1_IRPROTOCOL_TRACKMATE:
                        pios_ir_generate_trackmate_packet(hwre1data->IRIDTrackmate, ir_data, 4);
                        PIOS_RE1FPGA_SetIRData(ir_data, 4);
                        PIOS_RE1FPGA_SetIRProtocol(PIOS_RE1FPGA_IR_PROTOCOL_TRACKMATE);
                        break;
        }

        /* Configure the buzzer type */
        if (hwre1data->BuzzerType == HWBRAINRE1_BUZZERTYPE_4KHZ_BUZZER) {
                PIOS_RE1FPGA_SetBuzzerType(PIOS_RE1FPGA_BUZZER_AC);
        }
        else if (hwre1data->BuzzerType == HWBRAINRE1_BUZZERTYPE_DC_BUZZER) {
                PIOS_RE1FPGA_SetBuzzerType(PIOS_RE1FPGA_BUZZER_DC);
        }

        /* Set video sync detector threshold */
        PIOS_RE1FPGA_SetSyncThreshold(hwre1data->VideoSyncDetectorThreshold);
}

#include <pios_board_info.h>

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

#if defined(PIOS_INCLUDE_SPI)
        pios_spi_t pios_spi_gyro_id;

        if (PIOS_SPI_Init(&pios_spi_gyro_id, &pios_spi_gyro_cfg)) {
                PIOS_DEBUG_Assert(0);
        }
        if (PIOS_SPI_Init(&pios_spi_flash_id, &pios_spi_flash_cfg)) {
                PIOS_DEBUG_Assert(0);
        }
#endif

#if defined(PIOS_INCLUDE_RE1_FPGA)
        if (PIOS_RE1FPGA_Init(pios_spi_flash_id, 1, &pios_re1fpga_cfg, false) != 0) {
                PIOS_HAL_CriticalError(PIOS_LED_ALARM, PIOS_HAL_PANIC_CAN); // XXX need to add custom code
        }
#endif /* defined(PIOS_INCLUDE_RE1_FPGA) */

#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_s25fl127_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);

#if defined(ERASE_FLASH)
        PIOS_FLASHFS_Format(pios_uavo_settings_fs_id);
#endif

#endif  /* PIOS_INCLUDE_FLASH */

        HwBrainRE1Initialize();

        /* Connect callback to update FPGA settings when UAVO changes */
        HwBrainRE1ConnectCallback(settingsUpdatedCb);

        /* Set the HW revision, this also invokes the callback */
        uint8_t hw_rev = PIOS_RE1FPGA_GetHWRevision();
        HwBrainRE1HWRevisionSet(&hw_rev);

        /* Get the flash ID (random number) */
        uint8_t flashid[16] = {0};
        PIOS_Flash_Jedec_ReadOTPData(pios_external_flash_id, 0, flashid, 16);
        HwBrainRE1FlashIDSet(flashid);

        ModuleSettingsInitialize();

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

#ifndef ERASE_FLASH
        /* 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();
        }
#endif

        PIOS_RESET_Clear();

        /* Set up pulse timers */
        //inputs
        PIOS_TIM_InitClock(&tim_12_cfg);
        //outputs
        PIOS_TIM_InitClock(&tim_1_cfg);
        PIOS_TIM_InitClock(&tim_5_cfg);
        PIOS_TIM_InitClock(&tim_8_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 */
                HwBrainRE1SetDefaults(HwBrainRE1Handle(), 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 */
        HwBrainRE1USB_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 = HWBRAINRE1_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;
        HwBrainRE1USB_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 = HWBRAINRE1_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 RxPort*/

        /* Configure IO ports */
        HwBrainRE1DSMxModeOptions hw_DSMxMode;
        HwBrainRE1DSMxModeGet(&hw_DSMxMode);

        uint8_t hw_rxport;
        HwBrainRE1RxPortGet(&hw_rxport);

        PIOS_HAL_ConfigurePort(hw_rxport,            // port type protocol
                        &pios_usart3_cfg,                    // usart_port_cfg
                        &pios_usart_com_driver,              // com_driver
                        NULL,                                // i2c_id
                        NULL,                                // i2c_cfg
                        &pios_ppm_cfg,                       // ppm_cfg
                        NULL,                                // pwm_cfg
                        PIOS_LED_ALARM,                      // led_id
                        &pios_rxport_dsm_cfg,                // dsm_cfg
                        hw_DSMxMode,                         // dsm_mode
                        NULL);

        if (hw_rxport == HWSHARED_PORTTYPES_SBUS) {
                PIOS_RE1FPGA_SerialRxInvert(true);
        }

        /* SerialPort1 */
        uint8_t hw_sp;
        HwBrainRE1SerialPortGet(&hw_sp);

        PIOS_HAL_ConfigurePort(hw_sp,                // port type protocol
                        &pios_usart1_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
                        NULL,                                // dsm_cfg
                        0,                                   // dsm_mode
                        NULL);                               // sbus_rcvr_cfg

        /* Multi-function port (pwm, serial, etc) */
        uint8_t hw_mp_mode;
        HwBrainRE1MultiPortModeGet(&hw_mp_mode);
        uint8_t hw_mp_serial;
        HwBrainRE1MultiPortSerialGet(&hw_mp_serial);

        /* Configure PWM Outputs */
#if defined(PIOS_INCLUDE_SERVO) && defined(PIOS_INCLUDE_TIM)

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

        switch (hw_mp_mode) {
                case HWBRAINRE1_MULTIPORTMODE_NORMAL:
                        if (hw_mp_serial == HWBRAINRE1_MULTIPORTSERIAL_PWM) {
                                // all 8 PWM outputs are used
                                PIOS_Servo_Init(&pios_servo_8_cfg);
                        }
                        else {
                                // only 6 PWM outputs are used
                                PIOS_Servo_Init(&pios_servo_6_cfg);
                        }
                        break;
                case HWBRAINRE1_MULTIPORTMODE_DUALSERIAL4PWM:
                        // only 4 PWM outputs
                        PIOS_Servo_Init(&pios_servo_4_cfg);
                        break;
        }
#endif /* defined(PIOS_INCLUDE_SERVO) && defined(PIOS_INCLUDE_TIM) */

        /* MultiPort Serial 1 */
        switch (hw_mp_serial) {
                case HWBRAINRE1_MULTIPORTSERIAL_PWM:
                        // for us, this means PWM output, not input
                        break;
                default:
                        PIOS_HAL_ConfigurePort(hw_mp_serial,         // port type protocol
                                        &pios_usart6_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
                                        NULL,                                // dsm_cfg
                                        0,                                   // dsm_mode
                                        NULL);                               // sbus_rcvr_cfg
                        break;
        }

        // Enable / disable RE1 specific hardware inverters
        switch (hw_mp_serial) {
                case HWBRAINRE1_MULTIPORTSERIAL_FRSKYSENSORHUB:
                        PIOS_RE1FPGA_MPTxPinMode(false, true);
                        break;
                case HWBRAINRE1_MULTIPORTSERIAL_FRSKYSPORTTELEMETRY:
                        PIOS_RE1FPGA_MPTxPinMode(true, true);
                        PIOS_RE1FPGA_MPTxPinPullUpDown(true, false);
                        break;
        }

        /* MultiPort Serial 2 */
        if (hw_mp_mode == HWBRAINRE1_MULTIPORTMODE_DUALSERIAL4PWM) {
                HwBrainRE1MultiPortSerial2Get(&hw_mp_serial);

                PIOS_HAL_ConfigurePort(hw_mp_serial,         // port type protocol
                                &pios_usart4_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
                                NULL,                                // dsm_cfg
                                0,                                   // dsm_mode
                                NULL);                               // sbus_rcvr_cfg
        }

        PIOS_WDG_Clear();
        PIOS_DELAY_WaitmS(50);

        PIOS_SENSORS_Init();

        // RGB LEDs (uses RE1 FPGA)
        uint8_t num_leds;
        RGBLEDSettingsInitialize();
        RGBLEDSettingsNumLedsGet(&num_leds);
        if (num_leds > 0) {
                PIOS_WS2811_init(&pios_ws2811, NULL, num_leds);
        }

#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 /* defined(PIOS_INCLUDE_ADC) */

#if defined(PIOS_INCLUDE_SPI)
#if defined(PIOS_INCLUDE_BMI160)
        uint8_t bmi160_foc;
        HwBrainRE1BMI160FOCGet(&bmi160_foc);

        bool do_foc = (bmi160_foc == HWBRAINRE1_BMI160FOC_DO_FOC);

        if(PIOS_BMI160_Init(pios_spi_gyro_id, 0, &pios_bmi160_cfg, do_foc) != 0){
                PIOS_HAL_CriticalError(PIOS_LED_ALARM, PIOS_HAL_PANIC_IMU);
        }

        /* Disable FOC. We only do this once. */
        if (do_foc) {
                bmi160_foc = HWBRAINRE1_BMI160FOC_DISABLED;
                HwBrainRE1BMI160FOCSet(&bmi160_foc);
                UAVObjSave(HwBrainRE1Handle(), 0);
        }
#endif /* PIOS_INCLUDE_BMI160 */
#endif /* PIOS_INCLUDE_SPI */

        uint8_t hw_ext_mag;
        uint8_t hw_orientation;

        HwBrainRE1I2CExtMagGet(&hw_ext_mag);
        HwBrainRE1ExtMagOrientationGet(&hw_orientation);
        
        PIOS_HAL_ConfigureExternalMag(hw_ext_mag, hw_orientation,
                        &pios_i2c_external_id, &pios_i2c_external_cfg);

        uint8_t hw_ext_baro;

        HwBrainRE1I2CExtBaroGet(&hw_ext_baro);

        PIOS_HAL_ConfigureExternalBaro(hw_ext_baro,
                        &pios_i2c_external_id, &pios_i2c_external_cfg);

        /* Set voltage/current calibration values, if the current settings are UAVO defaults.*/
        FlightBatterySettingsInitialize();
        FlightBatterySettingsData batterysettings;
        FlightBatterySettingsGet(&batterysettings);
        if(batterysettings.SensorCalibrationFactor[FLIGHTBATTERYSETTINGS_SENSORCALIBRATIONFACTOR_CURRENT] == 36.6f) {
                batterysettings.SensorCalibrationFactor[FLIGHTBATTERYSETTINGS_SENSORCALIBRATIONFACTOR_CURRENT] = 25.0f;
        }

        if(batterysettings.SensorCalibrationFactor[FLIGHTBATTERYSETTINGS_SENSORCALIBRATIONFACTOR_VOLTAGE] == 63.69f) {
                batterysettings.SensorCalibrationFactor[FLIGHTBATTERYSETTINGS_SENSORCALIBRATIONFACTOR_VOLTAGE] = 152.0f;
        }
        FlightBatterySettingsSet(&batterysettings);
}