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 "hwmatek405.h"
#include "manualcontrolsettings.h"
#include "modulesettings.h"
#include "rgbledsettings.h"

uintptr_t pios_com_openlog_logging_id;
uintptr_t pios_uavo_settings_fs_id;
uintptr_t pios_internal_adc_id;

#ifdef PIOS_INCLUDE_MAX7456
max7456_dev_t pios_max7456_id;
#endif

#include <pios_board_info.h>

void PIOS_Board_Init(void) {
        const struct pios_board_info * bdinfo = &pios_board_info_blob;

#if defined(PIOS_INCLUDE_ANNUNC)
        const struct pios_annunc_cfg * led_cfg = PIOS_BOARD_HW_DEFS_GetLedCfg(bdinfo->board_rev);
        PIOS_Assert(led_cfg);
        PIOS_ANNUNC_Init(led_cfg);
#endif    /* PIOS_INCLUDE_ANNUNC */

#if defined(PIOS_INCLUDE_SPI)
        if (PIOS_SPI_Init(&pios_spi_gyro_id, &pios_spi_gyro_cfg)) {
                PIOS_Assert(0);
        }
#endif

#if defined(PIOS_INCLUDE_FLASH)
        /* Initialize 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);

        /* Register the partition table */
        const struct pios_flash_partition * flash_partition_table;
        uint32_t num_partitions;
        flash_partition_table = PIOS_BOARD_HW_DEFS_GetPartitionTable(bdinfo->board_rev, &num_partitions);
        PIOS_FLASH_register_partition_table(flash_partition_table, num_partitions);

        /* 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 */

        HwMatek405Initialize();
        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();
        }

        HwMatek405FC_Pad_S6Options hw_fcPadS6;
        HwMatek405FC_Pad_S6Get(&hw_fcPadS6);
        
        /* Set up pulse timers */

        // Timers used for inputs (5)
        PIOS_TIM_InitClock(&tim_5_cfg);

        // Timers used for outputs (3, 8, 2, 1, 4)
        PIOS_TIM_InitClock(&tim_3_cfg);
        PIOS_TIM_InitClock(&tim_8_cfg);
        PIOS_TIM_InitClock(&tim_2_cfg);
        
        if (hw_fcPadS6 == HWMATEK405_FC_PAD_S6_PWM_6)
                PIOS_TIM_InitClock(&tim_1_cfg);
        
        PIOS_TIM_InitClock(&tim_4_cfg);
        
#ifdef PIOS_INCLUDE_SPI
        uint8_t hw_osdport;

        HwMatek405OSDPortGet(&hw_osdport);

        if (hw_osdport != HWMATEK405_OSDPORT_DISABLED) {
                if (PIOS_SPI_Init(&pios_spi_osd_id, &pios_spi_osd_cfg)) {
                        PIOS_Assert(0);
                }

                switch (hw_osdport) {
#ifdef PIOS_INCLUDE_MAX7456
                        case HWMATEK405_OSDPORT_MAX7456OSD:
                                if (!PIOS_MAX7456_init(&pios_max7456_id, pios_spi_osd_id, 0)) {
                                        // XXX do something?
                                }
                                break;
#endif
                        default:
                                PIOS_Assert(0);
                                break;
                }
        }
#endif /* PIOS_INCLUDE_SPI */

        /* 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 */
                HwMatek405SetDefaults(HwMatek405Handle(), 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_BOARD_HW_DEFS_GetUsbCfg(bdinfo->board_rev));

#if defined(PIOS_INCLUDE_USB_CDC)

        uint8_t hw_usb_vcpport;
        /* Configure the USB VCP port */
        HwMatek405USB_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 = HWMATEK405_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;
        HwMatek405USB_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 = HWMATEK405_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();
        }

        PIOS_WDG_Clear();
#endif    /* PIOS_INCLUDE_USB */

        /* Configure the IO ports */

#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)
                AlarmsSet(SYSTEMALARMS_ALARM_I2C, SYSTEMALARMS_ALARM_WARNING);
        else
                if (AlarmsGet(SYSTEMALARMS_ALARM_I2C) == SYSTEMALARMS_ALARM_UNINITIALISED)
                        AlarmsSet(SYSTEMALARMS_ALARM_I2C, SYSTEMALARMS_ALARM_OK);
#endif  // PIOS_INCLUDE_I2C

        HwMatek405DSMxModeOptions hw_DSMxMode;
        HwMatek405DSMxModeGet(&hw_DSMxMode);

        /* UART1 Port */
        uint8_t hw_uart1;
        HwMatek405Uart1Get(&hw_uart1);

        PIOS_HAL_ConfigurePort(hw_uart1,             // 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
                        &pios_usart1_dsm_aux_cfg,            // dsm_cfg
                        hw_DSMxMode,                         // dsm_mode
                        NULL);                               // sbus_cfg

        uint8_t hw_ppm;
        HwMatek405PPM_ReceiverGet(&hw_ppm);

        if (hw_ppm == HWMATEK405_PPM_RECEIVER_ENABLED) {
                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
        } else {
                /* UART2 Port */
                uint8_t hw_uart2;
                HwMatek405Uart2Get(&hw_uart2);

                PIOS_HAL_ConfigurePort(hw_uart2,             // port type protocol
                                &pios_usart2_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_usart2_dsm_aux_cfg,            // dsm_cfg
                                hw_DSMxMode,                         // dsm_mode
                                NULL);                               // sbus_cfg
        }

        /* UART3 Port */
        uint8_t hw_uart3;
        HwMatek405Uart3Get(&hw_uart3);

        PIOS_HAL_ConfigurePort(hw_uart3,             // port type protocol
                        &pios_usart3_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_usart3_dsm_aux_cfg,            // dsm_cfg
                        hw_DSMxMode,                         // dsm_mode
                        NULL);                               // sbus_cfg

        /* UART4 Port */
        uint8_t hw_uart4;
        HwMatek405Uart4Get(&hw_uart4);

        PIOS_HAL_ConfigurePort(hw_uart4,             // 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
                        &pios_usart4_dsm_aux_cfg,            // dsm_cfg
                        hw_DSMxMode,                         // dsm_mode
                        NULL);                               // sbus_cfg

        /* UART5 Port */
        uint8_t hw_uart5;
        HwMatek405Uart5Get(&hw_uart5);

        PIOS_HAL_ConfigurePort(hw_uart5,             // port type protocol
                        &pios_usart5_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_usart5_dsm_aux_cfg,            // dsm_cfg
                        hw_DSMxMode,                         // dsm_mode
                        NULL);                               // sbus_cfg

#if defined(PIOS_INCLUDE_SERVO) & defined(PIOS_INCLUDE_DMASHOT)
        if (hw_fcPadS6 == HWMATEK405_FC_PAD_S6_PWM_6) 
                PIOS_DMAShot_Init(&dmashot_config_without_led_string);
        else
                PIOS_DMAShot_Init(&dmashot_config_with_led_string);
#endif

#if defined(PIOS_INCLUDE_TIM) && defined(PIOS_INCLUDE_SERVO)
#ifndef PIOS_DEBUG_ENABLE_DEBUG_PINS
        if (hw_fcPadS6 == HWMATEK405_FC_PAD_S6_PWM_6) 
                PIOS_Servo_Init(&pios_servo_cfg_without_led_string);
        else
                PIOS_Servo_Init(&pios_servo_cfg_with_led_string);
#else
        PIOS_DEBUG_Init(&pios_tim_servo_all_channels, NELEMENTS(pios_tim_servo_all_channels));
#endif
#endif

#ifdef PIOS_INCLUDE_WS2811
        if (hw_fcPadS6 == HWMATEK405_FC_PAD_S6_LEDSTRING) {
                RGBLEDSettingsInitialize();

                uint8_t temp;

                RGBLEDSettingsNumLedsGet(&temp);

                if (temp > 0) {
                        PIOS_WS2811_init(&pios_ws2811, &pios_ws2811_cfg, temp);

                        // Drive default value (off) to strand once at startup
                        PIOS_WS2811_trigger_update(pios_ws2811);
                }
        }
#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();

        PIOS_WDG_Clear();
        PIOS_DELAY_WaitmS(200);
        PIOS_WDG_Clear();

#if defined(PIOS_INCLUDE_MPU)
        pios_mpu_dev_t mpu_dev = NULL;
        if (PIOS_MPU_SPI_Init(&mpu_dev, pios_spi_gyro_id, 0, &pios_mpu_cfg) != 0)
                PIOS_HAL_CriticalError(PIOS_LED_ALARM, PIOS_HAL_PANIC_IMU);

        PIOS_MPU_SetGyroRange(PIOS_MPU_SCALE_2000_DEG);
        
        PIOS_MPU_SetAccelRange(PIOS_MPU_SCALE_8G);
        
        // Per pios_mpu.c, a bandwidth value of 188 will:
        //   Set the MPU60X0 low pass filter to 188 Hz
        //   Set the ICM206XX gyro low pass filter to 176 Hz
        PIOS_MPU_SetGyroBandwidth(188);

        // Per pios_mpu.c, a bandwidth value of 99 will:
        //   Do nothing for the MPU60X0
        //   Set the ICM206XX accel low pass filter to 99 Hz
        PIOS_MPU_SetAccelBandwidth(99);
#endif

#if defined(PIOS_INCLUDE_I2C)
        PIOS_WDG_Clear();

        uint8_t hw_ext_mag;
        HwMatek405MagnetometerGet(&hw_ext_mag);
        
        if (hw_ext_mag != HWMATEK405_MAGNETOMETER_NONE) {
                uint8_t hw_orientation;
                HwMatek405ExtMagOrientationGet(&hw_orientation);
                        
                PIOS_HAL_ConfigureExternalMag(hw_ext_mag, hw_orientation,
                        &pios_i2c_internal_id,
                        &pios_i2c_internal_cfg);
        }

#if defined(PIOS_INCLUDE_BMP280)
        // BMP280 support
        if (PIOS_BMP280_Init(&pios_bmp280_cfg, pios_i2c_internal_id)) {
                PIOS_SENSORS_SetMissing(PIOS_SENSOR_BARO);
        } else if (PIOS_BMP280_Test()) {
                PIOS_SENSORS_SetMissing(PIOS_SENSOR_BARO);
        }
#endif

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

#endif    /* PIOS_INCLUDE_I2C */

#if defined(PIOS_INCLUDE_ADC)
        /* Configure the adc port(s) */
        
        uintptr_t internal_adc_id;

        if (PIOS_INTERNAL_ADC_Init(&internal_adc_id, &pios_adc_cfg) < 0) {
                PIOS_Assert(0);
                PIOS_HAL_CriticalError(PIOS_LED_ALARM, PIOS_HAL_PANIC_ADC);
        }

        if (PIOS_ADC_Init(&pios_internal_adc_id, &pios_internal_adc_driver, internal_adc_id) < 0)
                PIOS_HAL_CriticalError(PIOS_LED_ALARM, PIOS_HAL_PANIC_ADC);
#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);
}