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()
{
        const struct pios_servo_cfg * servo_cfg = &pios_servo_cfg;
        const struct pios_tim_channel * channels = servo_cfg->channels;
        uint8_t num_channels = servo_cfg->num_channels;
        for (int i = 0; i < num_channels; i++) {
                GPIO_InitTypeDef init = {
                        .GPIO_Pin = channels[i].pin.init.GPIO_Pin,
                        .GPIO_Speed = GPIO_Speed_2MHz,
                        .GPIO_Mode  = GPIO_Mode_OUT,
                        .GPIO_OType = GPIO_OType_PP,
                        .GPIO_PuPd  = GPIO_PuPd_DOWN
                };

                /* Nail all servo channels as outputs, LOW.
                 * Mostly for brushed clones of SPRF3E to ensure we don't
                 * spin up (they should provide pulldowns, but meh.)
                 */
                channels[i].pin.gpio->BSRR = channels[i].pin.init.GPIO_Pin << 16;
                GPIO_Init(channels[i].pin.gpio, &init);
                channels[i].pin.gpio->BSRR = channels[i].pin.init.GPIO_Pin << 16;
        }

        /* Delay system */
        PIOS_DELAY_Init();

#if defined(PIOS_INCLUDE_ANNUNC)
        PIOS_ANNUNC_Init(&pios_annunc_cfg);
#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_usb_main_cfg);

#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 */

#endif  /* PIOS_INCLUDE_USB */
}