pios_board.c

Go to the documentation of this file.

/* 
 * 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_board_info.h>
#include <pios.h>

uintptr_t pios_com_telem_usb_id;

static void hack_rx_pin()
{
        /* This is a workaround for FrSky XM bugs.
         * They go into firmware update mode when the pin floats at
         * startup.  There's a new firmware that fixes this, but not everyone
         * can readily upgrade it...
         */

        GPIO_InitTypeDef hold_rx_low = pios_uart3_usart_cfg.rx.init;

        hold_rx_low.GPIO_PuPd = GPIO_PuPd_DOWN;

        GPIO_Init(GPIOA, &hold_rx_low);
}

void PIOS_Board_Init()
{
        hack_rx_pin();

        /* Delay system */
        PIOS_DELAY_Init();

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

#if defined(PIOS_INCLUDE_FLASH)
        /* Inititialize all flash drivers */
        PIOS_Flash_Internal_Init(&pios_internal_flash_id, &flash_internal_cfg);

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

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

        /* Activate the HID-only USB configuration */
        PIOS_USB_DESC_HID_ONLY_Init();

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

#if defined(PIOS_INCLUDE_USB_HID) && defined(PIOS_INCLUDE_COM_MSG)
        uintptr_t pios_usb_hid_id;
        if (PIOS_USB_HID_Init(&pios_usb_hid_id, &pios_usb_hid_cfg, pios_usb_id)) {
                PIOS_Assert(0);
        }
        if (PIOS_COM_MSG_Init(&pios_com_telem_usb_id, &pios_usb_hid_com_driver, pios_usb_hid_id)) {
                PIOS_Assert(0);
        }
#endif  /* PIOS_INCLUDE_USB_HID && PIOS_INCLUDE_COM_MSG */

#endif  /* PIOS_INCLUDE_USB */
}