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 "hwpikoblx.h"
#include "manualcontrolsettings.h"
#include "modulesettings.h"

#define PIOS_COM_CAN_RX_BUF_LEN 256
#define PIOS_COM_CAN_TX_BUF_LEN 256

uintptr_t pios_com_aux_id;
uintptr_t pios_com_can_id;
uintptr_t pios_uavo_settings_fs_id;
uintptr_t pios_internal_adc_id;
uintptr_t pios_can_id;
uintptr_t pios_com_openlog_logging_id;

#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)
        pios_spi_t pios_spi_gyro_id;

        /* Set up the SPI interface to the gyro/accelerometer */
        if (PIOS_SPI_Init(&pios_spi_gyro_id, &pios_spi_gyro_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);

        /* 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_internal_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 */

        PIOS_RESET_Clear(); // Clear the RCC reset flags after use.

        /* Initialize the hardware UAVOs */
        HwPikoBLXInitialize();
        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();
        }

        /* Set up pulse timers */
        //inputs

        //outputs
        PIOS_TIM_InitClock(&tim_1_cfg);
        PIOS_TIM_InitClock(&tim_2_cfg);
        PIOS_TIM_InitClock(&tim_3_cfg);
        PIOS_TIM_InitClock(&tim_15_cfg);
        PIOS_TIM_InitClock(&tim_16_cfg);
        PIOS_TIM_InitClock(&tim_17_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 */
                HwPikoBLXSetDefaults(HwPikoBLXHandle(), 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;

#if defined(PIOS_INCLUDE_USB_CDC)
        bool usb_cdc_present = false;
        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 */
        HwPikoBLXUSB_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 = HWPIKOBLX_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;
        HwPikoBLXUSB_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 = HWPIKOBLX_USB_HIDPORT_DISABLED;
        }

        PIOS_HAL_ConfigureHID(hw_usb_hidport, pios_usb_id, &pios_usb_hid_cfg);

#endif  /* PIOS_INCLUDE_USB_HID */
#endif  /* PIOS_INCLUDE_USB */

        /* Configure the IO ports */
        
        HwPikoBLXDSMxModeOptions hw_DSMxMode;
        HwPikoBLXDSMxModeGet(&hw_DSMxMode);

        HwSharedPortTypesOptions hw_uart1;
        HwPikoBLXUart1Get(&hw_uart1);
        PIOS_HAL_ConfigurePort(hw_uart1,            // port_type
                            &pios_uart1_usart_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_uart1_dsm_cfg,    // dsm_cfg
                            hw_DSMxMode,            // dsm_mode
                            NULL);                  // sbus_cfg
        
        /* Configure Uart2 */
        HwSharedPortTypesOptions hw_uart2;
        HwPikoBLXUart2Get(&hw_uart2);
        PIOS_HAL_ConfigurePort(hw_uart2,            // port_type
                            &pios_uart2_usart_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_uart2_dsm_cfg,    // dsm_cfg
                            hw_DSMxMode,            // dsm_mode
                            NULL);                  // sbus_cfg

        /* Configure Uart3 */
        HwSharedPortTypesOptions hw_rxp;
        HwPikoBLXRxPortGet(&hw_rxp);
        PIOS_HAL_ConfigurePort(hw_rxp,              // port_type
                            &pios_uart3_usart_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_uart3_dsm_cfg,    // dsm_cfg
                            hw_DSMxMode,            // dsm_mode
                            NULL);                  // sbus_cfg

#ifndef PIOS_DEBUG_ENABLE_DEBUG_PINS
#ifdef PIOS_INCLUDE_SERVO
        PIOS_Servo_Init(&pios_servo_cfg);
#endif
#else
        PIOS_DEBUG_Init(&pios_tim_servo_all_channels, NELEMENTS(pios_tim_servo_all_channels));
#endif

#if defined(PIOS_INCLUDE_ADC)
        uintptr_t unused_adc;
        if (PIOS_INTERNAL_ADC_Init(&pios_internal_adc_id, &internal_adc_cfg) < 0)
                PIOS_Assert(0);
        PIOS_ADC_Init(&unused_adc, &pios_internal_adc_driver, pios_internal_adc_id);
#endif /* PIOS_INCLUDE_ADC */

        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);

        HwPikoBLXGyroRangeOptions hw_gyro_range;
        HwPikoBLXGyroRangeGet(&hw_gyro_range);
        switch(hw_gyro_range) {
                case HWPIKOBLX_GYRORANGE_250:
                        PIOS_MPU_SetGyroRange(PIOS_MPU_SCALE_250_DEG);
                        break;
                case HWPIKOBLX_GYRORANGE_500:
                        PIOS_MPU_SetGyroRange(PIOS_MPU_SCALE_500_DEG);
                        break;
                case HWPIKOBLX_GYRORANGE_1000:
                        PIOS_MPU_SetGyroRange(PIOS_MPU_SCALE_1000_DEG);
                        break;
                case HWPIKOBLX_GYRORANGE_2000:
                        PIOS_MPU_SetGyroRange(PIOS_MPU_SCALE_2000_DEG);
                        break;
        }

        HwPikoBLXAccelRangeOptions hw_accel_range;
        HwPikoBLXAccelRangeGet(&hw_accel_range);
        switch(hw_accel_range) {
                case HWPIKOBLX_ACCELRANGE_2G:
                        PIOS_MPU_SetAccelRange(PIOS_MPU_SCALE_2G);
                        break;
                case HWPIKOBLX_ACCELRANGE_4G:
                        PIOS_MPU_SetAccelRange(PIOS_MPU_SCALE_4G);
                        break;
                case HWPIKOBLX_ACCELRANGE_8G:
                        PIOS_MPU_SetAccelRange(PIOS_MPU_SCALE_8G);
                        break;
                case HWPIKOBLX_ACCELRANGE_16G:
                        PIOS_MPU_SetAccelRange(PIOS_MPU_SCALE_16G);
                        break;
        }

        // the filter has to be set before rate else divisor calculation will fail
        HwPikoBLXGyroLPFOptions hw_mpu_gyro_dlpf;
        HwPikoBLXGyroLPFGet(&hw_mpu_gyro_dlpf);
        uint16_t gyro_bandwidth =
                (hw_mpu_gyro_dlpf == HWPIKOBLX_GYROLPF_188) ? 188 :
                (hw_mpu_gyro_dlpf == HWPIKOBLX_GYROLPF_98)  ?  98 :
                (hw_mpu_gyro_dlpf == HWPIKOBLX_GYROLPF_42)  ?  42 :
                (hw_mpu_gyro_dlpf == HWPIKOBLX_GYROLPF_20)  ?  20 :
                (hw_mpu_gyro_dlpf == HWPIKOBLX_GYROLPF_10)  ?  10 :
                (hw_mpu_gyro_dlpf == HWPIKOBLX_GYROLPF_5)   ?   5 :
                184;
        PIOS_MPU_SetGyroBandwidth(gyro_bandwidth);

        HwPikoBLXAccelLPFOptions hw_mpu_accel_dlpf;
        HwPikoBLXAccelLPFGet(&hw_mpu_accel_dlpf);
        uint16_t acc_bandwidth = 
                (hw_mpu_accel_dlpf = HWPIKOBLX_ACCELLPF_218) ? 218 :
                (hw_mpu_accel_dlpf = HWPIKOBLX_ACCELLPF_99)  ?  99 :
                (hw_mpu_accel_dlpf = HWPIKOBLX_ACCELLPF_45)  ?  45 :
                (hw_mpu_accel_dlpf = HWPIKOBLX_ACCELLPF_21)  ?  21 :
                (hw_mpu_accel_dlpf = HWPIKOBLX_ACCELLPF_10)  ?  10 :
                (hw_mpu_accel_dlpf = HWPIKOBLX_ACCELLPF_5)   ?   5 :
                184;
        PIOS_MPU_SetAccelBandwidth(acc_bandwidth);
#endif /* PIOS_INCLUDE_MPU */

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

        /* 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);
}