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_board_info.h>
#include <pios.h>

uintptr_t pios_com_telem_usb_id;

void PIOS_Board_Init()
{
        /* Delay system */
        PIOS_DELAY_Init();

        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)
        /* Set up the SPI interface to the flash and rfm22b */
        if (PIOS_SPI_Init(&pios_spi_telem_flash_id, &pios_spi_telem_flash_cfg)) {
                PIOS_DEBUG_Assert(0);
        }
#endif  /* PIOS_INCLUDE_SPI */

#if defined(PIOS_INCLUDE_FLASH)
        /* Inititialize all flash drivers */
        bool flash_chip_ok = false;
        for (int i = 0; i < NELEMENTS(flash_chip_cfgs); i++) {
                if (PIOS_Flash_Jedec_Init(&pios_external_flash_id, pios_spi_telem_flash_id,
                                1, &flash_chip_cfgs[i]) == 0) {
                        flash_chip_ok = true;
                        break;
                }
        }

        PIOS_Flash_Internal_Init(&pios_internal_flash_id, &flash_internal_cfg);

        if (!flash_chip_ok) {
                pios_external_flash_id = 0;

                /* Override configuration for Omnibus things */
                PIOS_ANNUNC_Init(&pios_annunc_omnibus_cfg);
        }

        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);

        /* Register the partition table */
        PIOS_FLASH_register_partition_table(flash_partition_table, num_partitions);
#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_BOARD_HW_DEFS_GetUsbCfg(bdinfo->board_rev));

#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 */

        PIOS_USBHOOK_Activate();

#endif  /* PIOS_INCLUDE_USB */
}