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 <uavobjectsinit.h>
#include <pios_max7456.h>
#include "hwplayuavosd.h"
#include "modulesettings.h"
#include "onscreendisplaysettings.h"

/* TODO: something nicer about these */
#include "attitudeactual.h"
#include "accels.h"
#include "baroaltitude.h"
#include "flightstatus.h"
#include "manualcontrolcommand.h"
#include "positionactual.h"
#include "stabilizationsettings.h"
#include "tabletinfo.h"

uintptr_t pios_uavo_settings_fs_id;

static void PIOS_BOARD_Init_Uavos(void);

#if defined(PIOS_INCLUDE_VIDEO)
void OSD_configure_bw_levels(void)
{
        GPIO_InitTypeDef GPIO_InitStructure;
        TIM_OCInitTypeDef  TIM_OCInitStructure;
        TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;

        /* --------------------------- System Clocks Configuration -----------------*/
        /* TIM1 clock enable */
        RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE);

        /* GPIOA clock enable */
        RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);

        /* Connect TIM1 pins to AF */
        GPIO_PinAFConfig(GPIOA, GPIO_PinSource8, GPIO_AF_TIM1);
        GPIO_PinAFConfig(GPIOA, GPIO_PinSource10, GPIO_AF_TIM1);

        /*-------------------------- GPIO Configuration ----------------------------*/
        GPIO_StructInit(&GPIO_InitStructure); // Reset init structure
        GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8 | GPIO_Pin_10;
        GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
        GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
        GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
        GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
        GPIO_Init(GPIOA, &GPIO_InitStructure);


        /* Time base configuration */
        TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
        TIM_TimeBaseStructure.TIM_Prescaler = (PIOS_SYSCLK / 25500000) - 1; // Get clock to 25 MHz on STM32F2/F4
        TIM_TimeBaseStructure.TIM_Period = 255;
        TIM_TimeBaseStructure.TIM_ClockDivision = 0;
        TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
        TIM_TimeBaseInit(TIM1, &TIM_TimeBaseStructure);

        /* Enable TIM1 Preload register on ARR */
        TIM_ARRPreloadConfig(TIM1, ENABLE);

        /* TIM PWM1 Mode configuration */
        TIM_OCStructInit(&TIM_OCInitStructure);
        TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
        TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
        TIM_OCInitStructure.TIM_Pulse = 90;
        TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;

        /* Output Compare PWM1 Mode configuration: Channel1 PA.08 */
        TIM_OC1Init(TIM1, &TIM_OCInitStructure);
        TIM_OC1PreloadConfig(TIM1, TIM_OCPreload_Enable);
        TIM_OC3Init(TIM1, &TIM_OCInitStructure);
        TIM_OC3PreloadConfig(TIM1, TIM_OCPreload_Enable);

        /* TIM1 Main Output Enable */
        TIM_CtrlPWMOutputs(TIM1, ENABLE);

        /* TIM1 enable counter */
        TIM_Cmd(TIM1, ENABLE);
        TIM1->CCR1 = 30;
        TIM1->CCR3 = 110;
}
#endif /* PIOS_INCLUDE_VIDEO */

#include <pios_board_info.h>

void PIOS_Board_Init(void) {
        // Drive USB re-enumerate pin low (so it doesn't pull DP down!)
        GPIO_InitTypeDef GPIO_InitStructure;
        GPIO_StructInit(&GPIO_InitStructure);
        GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12;
        GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
        GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
        GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
        GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
        GPIO_Init(GPIOB, &GPIO_InitStructure);
        GPIO_ResetBits(GPIOB, GPIO_Pin_12);
        
#if defined(PIOS_INCLUDE_ANNUNC)
        PIOS_ANNUNC_Init(&pios_annunc_cfg);
#endif  /* PIOS_INCLUDE_ANNUNC */

#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 */
        PIOS_FLASH_register_partition_table(pios_flash_partition_table_internal, NELEMENTS(pios_flash_partition_table_internal));

        /* Mount all filesystems */
        if (PIOS_FLASHFS_Logfs_Init(&pios_uavo_settings_fs_id, &flashfs_settings_internal_cfg, FLASH_PARTITION_LABEL_SETTINGS) != 0)
                PIOS_HAL_CriticalError(PIOS_LED_ALARM, PIOS_HAL_PANIC_FILESYS);
#endif  /* PIOS_INCLUDE_FLASH */

        HwPlayUavOsdInitialize();
        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();
        }

        PIOS_RESET_Clear();

        /* Set up pulse timers */
        //inputs
        PIOS_TIM_InitClock(&tim_8_cfg);
        PIOS_TIM_InitClock(&tim_12_cfg);
        //outputs
        PIOS_TIM_InitClock(&tim_5_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 */
                HwPlayUavOsdSetDefaults(HwPlayUavOsdHandle(), 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 */
        HwPlayUavOsdUSB_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 = HWPLAYUAVOSD_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;
        HwPlayUavOsdUSB_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 = HWPLAYUAVOSD_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 */

        /* Main Port */
        uint8_t hw_mainport;
        HwPlayUavOsdMainPortGet(&hw_mainport);

        PIOS_HAL_ConfigurePort(hw_mainport,          // port type protocol
                        &pios_usart_main_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


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

#if defined(PIOS_INCLUDE_SPI)
        if (PIOS_SPI_Init(&pios_spi_max7456_id, &pios_spi_max7456_cfg))
                PIOS_DEBUG_Assert(0);

        GPIO_StructInit(&GPIO_InitStructure);
        GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0;
        GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
        GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
        GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
        GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
        GPIO_Init(GPIOC, &GPIO_InitStructure);
        GPIO_SetBits(GPIOC, GPIO_Pin_0);
        GPIO_Init(GPIOA, &GPIO_InitStructure);
        GPIO_ResetBits(GPIOA, GPIO_Pin_0);

#if defined (PIOS_INCLUDE_MAX7456)
        max7456_dev_t max7456;
        if (PIOS_MAX7456_init(&max7456, pios_spi_max7456_id, 0))
                PIOS_HAL_CriticalError(PIOS_LED_ALARM, PIOS_HAL_PANIC_OSD);
#endif // defined (PIOS_INCLUDE_MAX7456)

#endif // defined(PIOS_INCLUDE_SPI)

#if defined(PIOS_INCLUDE_VIDEO)
        // make sure the mask pin is low
        GPIO_Init(pios_video_cfg.mask.miso.gpio, (GPIO_InitTypeDef*)&pios_video_cfg.mask.miso.init);
        GPIO_ResetBits(pios_video_cfg.mask.miso.gpio, pios_video_cfg.mask.miso.init.GPIO_Pin);

        // Initialize settings
        OnScreenDisplaySettingsInitialize();

        uint8_t osd_state;
        OnScreenDisplaySettingsOSDEnabledGet(&osd_state);
        if (osd_state == ONSCREENDISPLAYSETTINGS_OSDENABLED_ENABLED) {
                OSD_configure_bw_levels();
        }
#endif // defined(PIOS_INCLUDE_VIDEO)

        /* 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);

        PIOS_BOARD_Init_Uavos();
}

static void PIOS_BOARD_Init_Uavos(void)
{
        AttitudeActualInitialize();
        AccelsInitialize();
        BaroAltitudeInitialize();
        FlightStatusInitialize();
        ManualControlCommandInitialize();
        PositionActualInitialize();
        StabilizationSettingsInitialize();
        TabletInfoInitialize();
}