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_board_info.h>
#include <pios.h>

#ifdef PIOS_INCLUDE_WS2811
#include <pios_ws2811.h>
#endif

uintptr_t pios_com_telem_usb_id;

void PIOS_Board_Init() {
        /* Absolute first thing-- drive the video mask pin low */
        GPIO_Init(video_mask_pin.gpio, (GPIO_InitTypeDef *)&video_mask_pin.init);
        GPIO_WriteBit(video_mask_pin.gpio,
                        video_mask_pin.init.GPIO_Pin, Bit_RESET);

        /* 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 */

#ifdef PIOS_INCLUDE_WS2811
        PIOS_WS2811_init(&pios_ws2811, &pios_ws2811_cfg, 1);
        PIOS_WS2811_trigger_update(pios_ws2811);
#endif

        if ((RCC->CFGR & (uint32_t)RCC_CFGR_SWS ) != RCC_CFGR_SWS_PLL) {
                /* Oh no.  We're not clocked from PLL, that is DEFINITELY
                 * not what we expect. */

                while (true) {
#ifdef PIOS_INCLUDE_ANNUNC
#if defined(PIOS_LED_HEARTBEAT)
                        PIOS_ANNUNC_Off(PIOS_LED_HEARTBEAT);
                        for (int i=0; i < 500000; i++) {
                                asm volatile ("nop"::);
                        }
                        PIOS_ANNUNC_On(PIOS_LED_HEARTBEAT);
                        for (int i=0; i < 500000; i++) {
                                asm volatile ("nop"::);
                        }
#endif  /* PIOS_LED_HEARTBEAT */
#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_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 */
}