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.h>
#include <pios_hal.h>
#include <openpilot.h>
#include <uavobjectsinit.h>
#include "hwsparky.h"
#include "manualcontrolsettings.h"
#include "modulesettings.h"


#define PIOS_COM_CAN_RX_BUF_LEN 256
#define PIOS_COM_CAN_TX_BUF_LEN 256

uintptr_t pios_com_aux_id;
uintptr_t pios_com_can_id;
uintptr_t pios_uavo_settings_fs_id;
uintptr_t pios_can_id;
uintptr_t pios_com_openlog_logging_id;

#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_CAN)
        if (PIOS_CAN_Init(&pios_can_id, &pios_can_cfg) != 0)
                PIOS_HAL_CriticalError(PIOS_LED_ALARM, PIOS_HAL_PANIC_CAN);

        if (PIOS_COM_Init(&pios_com_can_id, &pios_can_com_driver, pios_can_id,
                          PIOS_COM_CAN_RX_BUF_LEN,
                          PIOS_COM_CAN_TX_BUF_LEN))
                PIOS_HAL_CriticalError(PIOS_LED_ALARM, PIOS_HAL_PANIC_CAN);

        pios_com_bridge_id = pios_com_can_id;
#endif

#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 */
        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_internal_settings_cfg, FLASH_PARTITION_LABEL_SETTINGS) != 0)
                PIOS_HAL_CriticalError(PIOS_LED_ALARM, PIOS_HAL_PANIC_FILESYS);
#if defined(ERASE_FLASH)
        PIOS_FLASHFS_Format(pios_uavo_settings_fs_id);
#endif

#endif  /* PIOS_INCLUDE_FLASH */

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

        /* Initialize the hardware UAVOs */
        HwSparkyInitialize();
        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 */
        //inputs

        //outputs
        PIOS_TIM_InitClock(&tim_1_cfg);
        PIOS_TIM_InitClock(&tim_2_cfg);
        PIOS_TIM_InitClock(&tim_3_cfg);
        PIOS_TIM_InitClock(&tim_15_cfg);
        PIOS_TIM_InitClock(&tim_16_cfg);
        PIOS_TIM_InitClock(&tim_17_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 */
                HwSparkySetDefaults(HwSparkyHandle(), 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;

#if defined(PIOS_INCLUDE_USB_CDC)
        bool usb_cdc_present = false;
        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 */
        HwSparkyUSB_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 = HWSPARKY_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;
        HwSparkyUSB_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 = HWSPARKY_USB_HIDPORT_DISABLED;
        }

        PIOS_HAL_ConfigureHID(hw_usb_hidport, pios_usb_id, &pios_usb_hid_cfg);

#endif  /* PIOS_INCLUDE_USB_HID */
#endif  /* PIOS_INCLUDE_USB */

        /* Configure the IO ports */
        
#if defined(PIOS_INCLUDE_I2C)
        if (PIOS_I2C_Init(&pios_i2c_internal_id, &pios_i2c_internal_cfg))
                PIOS_DEBUG_Assert(0);

        if (PIOS_I2C_CheckClear(pios_i2c_internal_id) != 0)
                PIOS_HAL_CriticalError(PIOS_LED_ALARM, PIOS_HAL_PANIC_I2C_INT);
        else
                if (AlarmsGet(SYSTEMALARMS_ALARM_I2C) == SYSTEMALARMS_ALARM_UNINITIALISED)
                        AlarmsSet(SYSTEMALARMS_ALARM_I2C, SYSTEMALARMS_ALARM_OK);
#endif  // PIOS_INCLUDE_I2C

        HwSparkyDSMxModeOptions hw_DSMxMode;
        HwSparkyDSMxModeGet(&hw_DSMxMode);

        /* Configure main USART port */
        uint8_t hw_mainport;
        HwSparkyMainPortGet(&hw_mainport);
        
        PIOS_HAL_ConfigurePort(hw_mainport,          // port type protocol
                &pios_main_usart_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_main_dsm_aux_cfg,              // dsm_cfg
                hw_DSMxMode,                         // dsm_mode
                NULL);                               // sbus_cfg

        /* Configure FlexiPort */
        uint8_t hw_flexiport;
        HwSparkyFlexiPortGet(&hw_flexiport);
        
        PIOS_HAL_ConfigurePort(hw_flexiport,         // port type protocol
                &pios_flexi_usart_cfg,               // usart_port_cfg
                &pios_usart_com_driver,              // com_driver
                &pios_i2c_flexi_id,                  // i2c_id
                &pios_i2c_flexi_cfg,                 // i2c_cfg
                NULL,                                // ppm_cfg
                NULL,                                // pwm_cfg
                PIOS_LED_ALARM,                      // led_id
                &pios_flexi_dsm_aux_cfg,             // dsm_cfg
                hw_DSMxMode,                         // dsm_mode
                NULL);                               // sbus_cfg

        /* Configure the rcvr port */
        uint8_t hw_rcvrport;
        HwSparkyRcvrPortGet(&hw_rcvrport);

        PIOS_HAL_ConfigurePort(hw_rcvrport,          // port type protocol
                &pios_rcvr_usart_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_rcvr_dsm_aux_cfg,              // dsm_cfg
                hw_DSMxMode,                         // dsm_mode
                NULL);                               // sbus_cfg

        uint8_t hw_outport;
        uint8_t number_of_pwm_outputs;
        uint8_t number_of_adc_ports;
        bool use_pwm_in;
        HwSparkyOutPortGet(&hw_outport);
        switch (hw_outport) {
        case HWSPARKY_OUTPORT_PWM10:
                number_of_pwm_outputs = 10;
                number_of_adc_ports = 0;
                use_pwm_in = false;
                break;
        case HWSPARKY_OUTPORT_PWM82ADC:
                number_of_pwm_outputs = 8;
                number_of_adc_ports = 2;
                use_pwm_in = false;
                break;
        case HWSPARKY_OUTPORT_PWM73ADC:
                number_of_pwm_outputs = 7;
                number_of_adc_ports = 3;
                use_pwm_in = false;
                break;
        case HWSPARKY_OUTPORT_PWM9PWM_IN:
                number_of_pwm_outputs = 9;
                use_pwm_in = true;
                number_of_adc_ports = 0;
                break;
        case HWSPARKY_OUTPORT_PWM72ADCPWM_IN:
                number_of_pwm_outputs = 7;
                use_pwm_in = true;
                number_of_adc_ports = 2;
                break;
        default:
                PIOS_Assert(0);
                break;
        }

#ifndef PIOS_DEBUG_ENABLE_DEBUG_PINS
#ifdef PIOS_INCLUDE_SERVO
        pios_servo_cfg.num_channels = number_of_pwm_outputs;

        if (hw_rcvrport != HWSHARED_PORTTYPES_PPM) {
                PIOS_Servo_Init(&pios_servo_cfg);
        } else {
                PIOS_Servo_Init(&pios_servo_slow_cfg);
        }
#endif
#else
        PIOS_DEBUG_Init(&pios_tim_servo_all_channels, NELEMENTS(pios_tim_servo_all_channels));
#endif

#if defined(PIOS_INCLUDE_ADC)
        if (number_of_adc_ports > 0) {
                internal_adc_cfg.adc_pin_count = number_of_adc_ports;
                uintptr_t unused_adc;
                if (PIOS_INTERNAL_ADC_Init(&pios_internal_adc_id, &internal_adc_cfg) < 0)
                        PIOS_Assert(0);
                PIOS_ADC_Init(&unused_adc, &pios_internal_adc_driver, pios_internal_adc_id);
        }
#endif /* PIOS_INCLUDE_ADC */

#if defined(PIOS_INCLUDE_PWM)
        if (use_pwm_in) {
                if (number_of_adc_ports > 0)
                        pios_pwm_cfg.channels = &pios_tim_rcvrport_pwm[1];
                uintptr_t pios_pwm_id;
                PIOS_PWM_Init(&pios_pwm_id, &pios_pwm_cfg);

                uintptr_t pios_pwm_rcvr_id;
                if (PIOS_RCVR_Init(&pios_pwm_rcvr_id, &pios_pwm_rcvr_driver, pios_pwm_id)) {
                        PIOS_Assert(0);
                }
                pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_PWM] = pios_pwm_rcvr_id;
        }
#endif  /* PIOS_INCLUDE_PWM */
        PIOS_WDG_Clear();
        PIOS_DELAY_WaitmS(200);
        PIOS_WDG_Clear();

        uint8_t hw_magnetometer;
        HwSparkyMagnetometerGet(&hw_magnetometer);

#if defined(PIOS_INCLUDE_MPU)
        if (hw_magnetometer != HWSPARKY_MAGNETOMETER_INTERNAL)
                pios_mpu_cfg.use_internal_mag = false;

        pios_mpu_dev_t mpu_dev = NULL;

        if (PIOS_MPU_I2C_Init(&mpu_dev, pios_i2c_internal_id, &pios_mpu_cfg) != 0)
                PIOS_HAL_CriticalError(PIOS_LED_ALARM, PIOS_HAL_PANIC_IMU);

        HwSparkyGyroRangeOptions hw_gyro_range;
        HwSparkyGyroRangeGet(&hw_gyro_range);
        switch(hw_gyro_range) {
                case HWSPARKY_GYRORANGE_250:
                        PIOS_MPU_SetGyroRange(PIOS_MPU_SCALE_250_DEG);
                        break;
                case HWSPARKY_GYRORANGE_500:
                        PIOS_MPU_SetGyroRange(PIOS_MPU_SCALE_500_DEG);
                        break;
                case HWSPARKY_GYRORANGE_1000:
                        PIOS_MPU_SetGyroRange(PIOS_MPU_SCALE_1000_DEG);
                        break;
                case HWSPARKY_GYRORANGE_2000:
                        PIOS_MPU_SetGyroRange(PIOS_MPU_SCALE_2000_DEG);
                        break;
        }

        HwSparkyAccelRangeOptions hw_accel_range;
        HwSparkyAccelRangeGet(&hw_accel_range);
        switch(hw_accel_range) {
                case HWSPARKY_ACCELRANGE_2G:
                        PIOS_MPU_SetAccelRange(PIOS_MPU_SCALE_2G);
                        break;
                case HWSPARKY_ACCELRANGE_4G:
                        PIOS_MPU_SetAccelRange(PIOS_MPU_SCALE_4G);
                        break;
                case HWSPARKY_ACCELRANGE_8G:
                        PIOS_MPU_SetAccelRange(PIOS_MPU_SCALE_8G);
                        break;
                case HWSPARKY_ACCELRANGE_16G:
                        PIOS_MPU_SetAccelRange(PIOS_MPU_SCALE_16G);
                        break;
        }

        uint8_t hw_mpu_dlpf;
        HwSparkyMPU9150DLPFGet(&hw_mpu_dlpf);

        uint16_t bandwidth = \
                (hw_mpu_dlpf == HWSPARKY_MPU9150DLPF_188) ? 188 : \
                (hw_mpu_dlpf == HWSPARKY_MPU9150DLPF_98)  ? 98  : \
                (hw_mpu_dlpf == HWSPARKY_MPU9150DLPF_42)  ? 42  : \
                (hw_mpu_dlpf == HWSPARKY_MPU9150DLPF_20)  ? 20  : \
                (hw_mpu_dlpf == HWSPARKY_MPU9150DLPF_10)  ? 10  : \
                (hw_mpu_dlpf == HWSPARKY_MPU9150DLPF_5)   ? 5   : \
                188;
        PIOS_MPU_SetGyroBandwidth(bandwidth);
#endif /* PIOS_INCLUDE_MPU */

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

        switch (hw_magnetometer) {
                case HWSPARKY_MAGNETOMETER_NONE:
                case HWSPARKY_MAGNETOMETER_INTERNAL:
                        /* internal handled by MPU code above */
                        break;

                /* default external mags and handle them in PiOS HAL rather than maintaining list here */
                default:
                        if (hw_flexiport == HWSHARED_PORTTYPES_I2C) {
                                uint8_t hw_orientation;
                                HwSparkyExtMagOrientationGet(&hw_orientation);

                                PIOS_HAL_ConfigureExternalMag(hw_magnetometer, hw_orientation,
                                        &pios_i2c_flexi_id, &pios_i2c_flexi_cfg);
                        } else {
                                PIOS_SENSORS_SetMissing(PIOS_SENSOR_MAG);
                        }
                        break;
        }

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

#if defined(PIOS_INCLUDE_MS5611)
        if ((PIOS_MS5611_Init(&pios_ms5611_cfg, pios_i2c_internal_id) != 0)
                        || (PIOS_MS5611_Test() != 0))
                PIOS_HAL_CriticalError(PIOS_LED_ALARM, PIOS_HAL_PANIC_BARO);
#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);
}