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 <taskmonitor.h>
#include "hwseppuku.h"
#include "manualcontrolsettings.h"
#include "modulesettings.h"
#include "onscreendisplaysettings.h"

#if defined(PIOS_INCLUDE_WS2811)
#include "rgbledsettings.h"
#endif

uintptr_t pios_com_openlog_logging_id;
uintptr_t pios_uavo_settings_fs_id;
uintptr_t pios_internal_adc_id;

uintptr_t external_i2c_adapter_id = 0;

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

        /*-------------------------- GPIO Configuration ----------------------------*/
        GPIO_StructInit(&GPIO_InitStructure); // Reset init structure
        GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9 | GPIO_Pin_15;
        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_25MHz;
        GPIO_Init(GPIOB, &GPIO_InitStructure);

        GPIO_PinAFConfig(GPIOB, GPIO_PinSource9, GPIO_AF_TIM11);  // White
        GPIO_PinAFConfig(GPIOB, GPIO_PinSource15, GPIO_AF_TIM12); // Black

        /* Time base configuration */
        TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
        TIM_TimeBaseStructure.TIM_Prescaler = 0;  // Run as fast as we can.
        TIM_TimeBaseStructure.TIM_Period = 192;
        TIM_TimeBaseStructure.TIM_ClockDivision = 0;
        TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
        TIM_TimeBaseInit(TIM11, &TIM_TimeBaseStructure);
        TIM_TimeBaseInit(TIM12, &TIM_TimeBaseStructure);

        /* PWM mode configuation */
        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;

        TIM_OC1Init(TIM11, &TIM_OCInitStructure);
        TIM_OC2Init(TIM12, &TIM_OCInitStructure);

        /* TIM11/12 Main Output Enable */
        TIM_CtrlPWMOutputs(TIM11, ENABLE);
        TIM_CtrlPWMOutputs(TIM12, ENABLE);

        /* TIM1 enable counter */
        TIM_Cmd(TIM11, ENABLE);
        TIM_Cmd(TIM12, ENABLE);

        TIM11->CCR1 = 180;
        TIM12->CCR2 = 100;
}
#endif /* PIOS_INCLUDE_VIDEO */

#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)
        if (PIOS_SPI_Init(&pios_spi_gyro_accel_id, &pios_spi_gyro_accel_cfg)) {
                PIOS_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) {
#ifdef PIOS_INCLUDE_WS2811
                PIOS_WS2811_init(&pios_ws2811, &pios_ws2811_cfg, 8);
#endif
                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_settings_cfg, FLASH_PARTITION_LABEL_SETTINGS) != 0) {
#ifdef PIOS_INCLUDE_WS2811
                PIOS_WS2811_init(&pios_ws2811, &pios_ws2811_cfg, 8);
#endif
                PIOS_HAL_CriticalError(PIOS_LED_ALARM, PIOS_HAL_PANIC_FILESYS);
        }
#endif  /* PIOS_INCLUDE_FLASH */

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

        /* Initialize the hardware UAVOs */
        HwSeppukuInitialize();
        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 */

        // Timers used for outputs (8, 14, 3, 5)
        PIOS_TIM_InitClock(&tim_8_cfg);
        PIOS_TIM_InitClock(&tim_14_cfg);
        PIOS_TIM_InitClock(&tim_3_cfg);
        PIOS_TIM_InitClock(&tim_4_cfg);
        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 */
                HwSeppukuSetDefaults(HwSeppukuHandle(), 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_BOARD_HW_DEFS_GetUsbCfg(bdinfo->board_rev));

#if defined(PIOS_INCLUDE_USB_CDC)

        uint8_t hw_usb_vcpport;
        /* Configure the USB VCP port */
        HwSeppukuUSB_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 = HWSEPPUKU_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;
        HwSeppukuUSB_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 = HWSEPPUKU_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 */

        /* Configure the IO ports */
        HwSeppukuDSMxModeOptions hw_DSMxMode;
        HwSeppukuDSMxModeGet(&hw_DSMxMode);

        /* Configure the receiver port*/
        uint8_t hw_rcvrport;
        HwSeppukuRcvrPortGet(&hw_rcvrport);

        PIOS_HAL_ConfigurePort(hw_rcvrport,            // port type protocol
                        &pios_usart2_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_usart2_dsm_aux_cfg,              // dsm_cfg
                        hw_DSMxMode,                           // dsm_mode
                        &pios_usart2_sbus_aux_cfg);            // sbus_cfg

        /* UART1 Port */
        uint8_t hw_uart1;
        HwSeppukuUart1Get(&hw_uart1);

        PIOS_HAL_ConfigurePort(hw_uart1,             // port type protocol
                        &pios_usart1_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_usart1_dsm_aux_cfg,            // dsm_cfg
                        hw_DSMxMode,                         // dsm_mode
                        NULL);                               // sbus_cfg

        /* UART3 Port */
        uint8_t hw_uart3;
        HwSeppukuUart3Get(&hw_uart3);

        PIOS_HAL_ConfigurePort(hw_uart3,             // port type protocol
                        &pios_usart3_cfg,                    // usart_port_cfg
                        &pios_usart_com_driver,              // com_driver
                        &pios_i2c_usart3_adapter_id,         // i2c_id
                        &pios_i2c_usart3_adapter_cfg,        // i2c_cfg
                        NULL,                                // ppm_cfg
                        NULL,                                // pwm_cfg
                        PIOS_LED_ALARM,                      // led_id
                        &pios_usart3_dsm_aux_cfg,            // dsm_cfg
                        hw_DSMxMode,                         // dsm_mode
                        NULL);                               // sbus_cfg

        /* UART3 Port */
        uint8_t hw_uart6;
        HwSeppukuUart6Get(&hw_uart6);

        PIOS_HAL_ConfigurePort(hw_uart6,             // port type protocol
                        &pios_usart6_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_usart6_dsm_aux_cfg,            // dsm_cfg
                        hw_DSMxMode,                         // dsm_mode
                        NULL);                               // sbus_cfg

        uint8_t hw_outputconf;
        HwSeppukuOutputConfigurationGet(&hw_outputconf);

        switch (hw_outputconf) {
                case HWSEPPUKU_OUTPUTCONFIGURATION_SIXCHANNELSUART4:
                        (void) 0;
                        uint8_t hw_uart4;
                        HwSeppukuUart4Get(&hw_uart4);

                        PIOS_HAL_ConfigurePort(hw_uart4,             // port type protocol
                                        &pios_uart4_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_uart4_dsm_aux_cfg,            // dsm_cfg
                                        hw_DSMxMode,                         // dsm_mode
                                        NULL);                               // sbus_cfg

#ifdef PIOS_INCLUDE_SERVO
                        PIOS_Servo_Init(&pios_servo_with_uart_cfg);
#endif
                        break;
                default:
#ifdef PIOS_INCLUDE_SERVO
                        PIOS_Servo_Init(&pios_servo_cfg);
#endif
                        break;
        }

#if defined(PIOS_INCLUDE_DMASHOT)
        PIOS_DMAShot_Init(&dmashot_config);
#endif

#ifdef PIOS_INCLUDE_WS2811
        uint8_t num_leds;

        RGBLEDSettingsInitialize();

        RGBLEDSettingsNumLedsGet(&num_leds);

        if (num_leds < 1) {
                num_leds = 1;   // Always enable the on-board LED.
        }

        PIOS_WS2811_init(&pios_ws2811, &pios_ws2811_cfg, num_leds);
        PIOS_WS2811_trigger_update(pios_ws2811);
#endif

#ifdef PIOS_INCLUDE_DAC
        PIOS_DAC_init(&pios_dac, &pios_dac_cfg);

        PIOS_HAL_ConfigureDAC(pios_dac);
#endif /* PIOS_INCLUDE_DAC */

/* init sensor queue registration */
        PIOS_SENSORS_Init();

        PIOS_WDG_Clear();

#if defined(PIOS_INCLUDE_SPI)

#if defined(PIOS_INCLUDE_BMI160)
        uint8_t bmi160_foc;
        HwSeppukuBMI160FOCGet(&bmi160_foc);

        bool do_foc = (bmi160_foc == HWSEPPUKU_BMI160FOC_DO_FOC);

        if(PIOS_BMI160_Init(pios_spi_gyro_accel_id, 0, &pios_bmi160_cfg, do_foc) != 0){
                PIOS_HAL_CriticalError(PIOS_LED_ALARM, PIOS_HAL_PANIC_IMU);
        }

        /* Disable FOC. We only do this once. */
        if (do_foc) {
                bmi160_foc = HWSEPPUKU_BMI160FOC_DISABLED;
                HwSeppukuBMI160FOCSet(&bmi160_foc);
                UAVObjSave(HwSeppukuHandle(), 0);
        }
#endif /* PIOS_INCLUDE_BMI160 */

#ifdef PIOS_INCLUDE_BMP280_SPI
        // BMP280 support
        if (PIOS_BMP280_SPI_Init(&pios_bmp280_cfg, pios_spi_gyro_accel_id,
                        1)) {
                PIOS_SENSORS_SetMissing(PIOS_SENSOR_BARO);
        } else if (PIOS_BMP280_Test()) {
                PIOS_SENSORS_SetMissing(PIOS_SENSOR_BARO);
        }
#endif /* PIOS_INCLUDE_BMP280_SPI */

#endif /* PIOS_INCLUDE_SPI */

        PIOS_WDG_Clear();

        uint8_t hw_magnetometer;
        HwSeppukuMagnetometerGet(&hw_magnetometer);

        switch (hw_magnetometer) {
                case HWSEPPUKU_MAGNETOMETER_NONE:
                        break;

                case HWSEPPUKU_MAGNETOMETER_INTERNAL:
#if defined(PIOS_INCLUDE_SPI) && defined(PIOS_INCLUDE_LIS3MDL)
                        (void) 0;
                        lis3mdl_dev_t lis3mdl;

                        if (PIOS_LIS3MDL_SPI_Init(&lis3mdl, pios_spi_gyro_accel_id,
                                        2, &pios_lis3mdl_cfg)) {
                                PIOS_SENSORS_SetMissing(PIOS_SENSOR_MAG);
                        }
#endif /* PIOS_INCLUDE_SPI && PIOS_INCLUDE_LIS3MDL */
                        break;

                /* default external mags and handle them in PiOS HAL rather than maintaining list here */
                default:
#if defined(PIOS_INCLUDE_I2C)
                {
                        if (pios_i2c_usart3_adapter_id) {
                                uint8_t hw_orientation;
                                HwSeppukuExtMagOrientationGet(&hw_orientation);

                                PIOS_HAL_ConfigureExternalMag(hw_magnetometer, hw_orientation,
                                        &pios_i2c_usart3_adapter_id,
                                        &pios_i2c_usart3_adapter_cfg);
                        } else {
                                PIOS_SENSORS_SetMissing(PIOS_SENSOR_MAG);
                        }
                }
#else
                        PIOS_SENSORS_SetMissing(PIOS_SENSOR_MAG);
#endif // PIOS_INCLUDE_I2C

                        break;
        }

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

#if defined(PIOS_INCLUDE_ADC)
        uintptr_t internal_adc_id;
        PIOS_INTERNAL_ADC_Init(&internal_adc_id, &pios_adc_cfg);
        PIOS_ADC_Init(&pios_internal_adc_id, &pios_internal_adc_driver, internal_adc_id);
#endif

#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

        /* 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);
}