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/>
 */

#include <pios.h>
#include <openpilot.h>
#include <board_hw_defs.c>
#include <manualcontrolsettings.h>
#include <modulesettings.h>
#include <hwtaulink.h>
#include <pios_hal.h>

uintptr_t pios_com_telem_uart_bluetooth_id;
#if defined(PIOS_INCLUDE_PPM)
uintptr_t pios_ppm_rcvr_id;
#endif

uintptr_t pios_uavo_settings_fs_id;

#define PIOS_COM_TELEM_RX_BUF_LEN 450
#define PIOS_COM_TELEM_TX_BUF_LEN 450
#define PIOS_COM_FRSKYSPORT_TX_BUF_LEN 24

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

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

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

        /* 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 */
        PIOS_FLASHFS_Logfs_Init(&pios_uavo_settings_fs_id, &flashfs_internal_settings_cfg, FLASH_PARTITION_LABEL_SETTINGS);

#ifdef ERASE_FLASH
        PIOS_FLASHFS_Format(pios_uavo_settings_fs_id);
#if defined(PIOS_LED_HEARTBEAT)
        PIOS_ANNUNC_Off(PIOS_LED_HEARTBEAT);
#endif /* PIOS_LED_HEARTBEAT */
        while (1);
#endif

#endif  /* PIOS_INCLUDE_FLASH && PIOS_INCLUDE_LOGFS_SETTINGS */

        /* Set up the SPI interface to the rfm22b */
        if (PIOS_SPI_Init(&pios_spi_rfm22b_id, &pios_spi_rfm22b_cfg)) {
                PIOS_DEBUG_Assert(0);
        }

#ifdef PIOS_INCLUDE_WDG
        /* Initialize watchdog as early as possible to catch faults during init */
        PIOS_WDG_Init();
#endif /* PIOS_INCLUDE_WDG */

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

        HwTauLinkInitialize();

#if defined(PIOS_INCLUDE_TIM)
        /* Set up pulse timers */
        PIOS_TIM_InitClock(&tim_1_cfg);
        PIOS_TIM_InitClock(&tim_2_cfg);
        PIOS_TIM_InitClock(&tim_3_cfg);
        PIOS_TIM_InitClock(&tim_4_cfg);
#endif  /* PIOS_INCLUDE_TIM */

        /* Initialize board specific USB data */
        PIOS_USB_BOARD_DATA_Init();

        // Configure the main port
        HwTauLinkData hwTauLink;
        HwTauLinkGet(&hwTauLink);

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

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

        /*Initialize the USB device */
        uintptr_t pios_usb_id;
        PIOS_USB_Init(&pios_usb_id, &pios_usb_main_cfg);

        PIOS_HAL_ConfigureHID(HWSHARED_USB_HIDPORT_USBTELEMETRY, pios_usb_id, &pios_usb_hid_cfg);

        /* Configure the USB virtual com port (VCP) */
#if defined(PIOS_INCLUDE_USB_CDC)
        if (usb_cdc_present) {
                PIOS_HAL_ConfigureCDC(hwTauLink.VCPPort, pios_usb_id, &pios_usb_cdc_cfg);
        }
#endif

        PIOS_HAL_ConfigurePort(hwTauLink.MainPort,   // port type protocol
                        &pios_usart_serial_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_cfg

        ModuleSettingsInitialize();
        ModuleSettingsData moduleSettings;
        ModuleSettingsGet(&moduleSettings);

        moduleSettings.ComUsbBridgeSpeed = hwTauLink.ComSpeed;
        moduleSettings.TelemetrySpeed = hwTauLink.ComSpeed;

        ModuleSettingsSet(&moduleSettings);

#ifdef PIOS_INCLUDE_OPENLRS
        const struct pios_openlrs_cfg *openlrs_cfg = PIOS_BOARD_HW_DEFS_GetOpenLRSCfg(bdinfo->board_rev);

        PIOS_HAL_ConfigureRFM22B(pios_spi_rfm22b_id,
                        bdinfo->board_type, bdinfo->board_rev,
                        hwTauLink.RfBand, hwTauLink.MaxRfPower,
                        openlrs_cfg, &openlrs_handle);
#endif

        if (bdinfo->board_rev == TAULINK_VERSION_MODULE) {
                // Configure the main serial port function

                static struct pios_usart_params pios_usart_bluetooth_params = {
                        .init = {
                                .USART_BaudRate = 9600,
                                .USART_WordLength = USART_WordLength_8b,
                                .USART_Parity = USART_Parity_No,
                                .USART_StopBits = USART_StopBits_1,
                                .USART_HardwareFlowControl = USART_HardwareFlowControl_None,
                                .USART_Mode = USART_Mode_Rx | USART_Mode_Tx,
                        },
                };

                switch (hwTauLink.BTPort) {
                case HWTAULINK_BTPORT_TELEMETRY:
                {
                        // Note: if the main port is also on telemetry the bluetooth
                        // port will take precedence

                        uintptr_t pios_usart2_id;
                        if (PIOS_USART_Init(&pios_usart2_id, &pios_usart_bluetooth_cfg, &pios_usart_bluetooth_params)) {
                                PIOS_Assert(0);
                        }
                        if (PIOS_COM_Init(&pios_com_telem_uart_bluetooth_id, &pios_usart_com_driver, pios_usart2_id,
                                        PIOS_COM_TELEM_RX_BUF_LEN,
                                        PIOS_COM_TELEM_TX_BUF_LEN)) {
                                PIOS_Assert(0);
                        }
                }
                break;
                case HWTAULINK_BTPORT_COMBRIDGE:
                {
                        // Note: if the main port is also on telemetry the bluetooth
                        // port will take precedence
                        uintptr_t pios_usart2_id;
                        if (PIOS_USART_Init(&pios_usart2_id, &pios_usart_bluetooth_cfg, &pios_usart_bluetooth_params)) {
                                PIOS_Assert(0);
                        }
                        if (PIOS_COM_Init(&pios_com_telem_uart_bluetooth_id, &pios_usart_com_driver, pios_usart2_id,
                                        PIOS_COM_TELEM_RX_BUF_LEN,
                                        PIOS_COM_TELEM_TX_BUF_LEN)) {
                                PIOS_Assert(0);
                        }

                        pios_com_bridge_id = pios_com_telem_uart_bluetooth_id;
                }
                break;
                case HWTAULINK_BTPORT_DISABLED:
                        break;
                }
        }

        // Configure the flexi port

        static struct pios_usart_params pios_usart_sport_params = {
                .init = {
                        .USART_BaudRate            = 57600,
                        .USART_WordLength          = USART_WordLength_8b,
                        .USART_Parity              = USART_Parity_No,
                        .USART_StopBits            = USART_StopBits_1,
                        .USART_HardwareFlowControl = USART_HardwareFlowControl_None,
                        .USART_Mode                = USART_Mode_Tx,
                },
        };

        switch (hwTauLink.PPMPort) {
        case HWTAULINK_PPMPORT_PPM:
        {
#if defined(PIOS_INCLUDE_PPM)
                /* PPM input is configured on the coordinator modem and sent in the RFM22BReceiver UAVO. */
                uintptr_t pios_ppm_id;
                PIOS_PPM_Init(&pios_ppm_id, &pios_ppm_cfg);

                if (PIOS_RCVR_Init(&pios_ppm_rcvr_id, &pios_ppm_rcvr_driver, pios_ppm_id)) {
                        PIOS_Assert(0);
                }

                pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_PPM] = pios_ppm_rcvr_id;
#endif /* PIOS_INCLUDE_PPM */
                break;
        }
        case HWTAULINK_PPMPORT_SPORT:
#if defined(PIOS_INCLUDE_TARANIS_SPORT)
                PIOS_HAL_ConfigureCom(&pios_usart_sport_cfg, &pios_usart_sport_params, 0, PIOS_COM_FRSKYSPORT_TX_BUF_LEN, &pios_usart_com_driver,
                                &pios_com_frsky_sport_id);
#endif /* PIOS_INCLUDE_TARANIS_SPORT */
                break;
        case HWTAULINK_PPMPORT_PPMSPORT:
        {
#if defined(PIOS_INCLUDE_TARANIS_SPORT)
                PIOS_HAL_ConfigureCom(&pios_usart_sport_cfg, &pios_usart_sport_params, 0, PIOS_COM_FRSKYSPORT_TX_BUF_LEN, &pios_usart_com_driver,
                                &pios_com_frsky_sport_id);
#endif /* PIOS_INCLUDE_TARANIS_SPORT */
#if defined(PIOS_INCLUDE_PPM)
                /* PPM input is configured on the coordinator modem and sent in the RFM22BReceiver UAVO. */
                uintptr_t pios_ppm_id;
                PIOS_PPM_Init(&pios_ppm_id, &pios_ppm_cfg);

                if (PIOS_RCVR_Init(&pios_ppm_rcvr_id, &pios_ppm_rcvr_driver, pios_ppm_id)) {
                        PIOS_Assert(0);
                }

#endif /* PIOS_INCLUDE_PPM */
                break;
        }
        case HWTAULINK_PPMPORT_DISABLED:
        default:
                break;
        }

        /* Remap AFIO pin */
        GPIO_PinRemapConfig( GPIO_Remap_SWJ_NoJTRST, ENABLE);

#ifdef PIOS_INCLUDE_ADC
        PIOS_ADC_Init();
#endif
}