LibrePilot/flight/targets/boards/oplinkmini/board_hw_defs.c

#if defined(PIOS_INCLUDE_LED)

#include <pios_led_priv.h>
static const struct pios_led pios_leds[] = {
	[PIOS_LED_USB] = {
		.pin = {
			.gpio = GPIOA,
			.init = {
				.GPIO_Pin   = GPIO_Pin_3,
				.GPIO_Mode  = GPIO_Mode_Out_PP,
				.GPIO_Speed = GPIO_Speed_50MHz,
			},
		},
	},
	[PIOS_LED_LINK] = {
		.pin = {
			.gpio = GPIOB,
			.init = {
				.GPIO_Pin   = GPIO_Pin_5,
				.GPIO_Mode  = GPIO_Mode_Out_PP,
				.GPIO_Speed = GPIO_Speed_50MHz,
			},
		},
	},
	[PIOS_LED_RX] = {
		.pin = {
			.gpio = GPIOB,
			.init = {
				.GPIO_Pin   = GPIO_Pin_6,
				.GPIO_Mode  = GPIO_Mode_Out_PP,
				.GPIO_Speed = GPIO_Speed_50MHz,
			},
		},
	},
	[PIOS_LED_TX] = {
		.pin = {
			.gpio = GPIOB,
			.init = {
				.GPIO_Pin   = GPIO_Pin_7,
				.GPIO_Mode  = GPIO_Mode_Out_PP,
				.GPIO_Speed = GPIO_Speed_50MHz,
			},
		},
	},
#ifdef PIOS_RFM22B_DEBUG_ON_TELEM
	[PIOS_LED_D1] = {
		.pin = {
			.gpio = GPIOB,
			.init = {
				.GPIO_Pin   = GPIO_Pin_14,
				.GPIO_Mode  = GPIO_Mode_Out_PP,
				.GPIO_Speed = GPIO_Speed_50MHz,
			},
		},
	},
	[PIOS_LED_D2] = {
		.pin = {
			.gpio = GPIOB,
			.init = {
				.GPIO_Pin   = GPIO_Pin_15,
				.GPIO_Mode  = GPIO_Mode_Out_PP,
				.GPIO_Speed = GPIO_Speed_50MHz,
			},
		},
	},
	[PIOS_LED_D3] = {
		.pin = {
			.gpio = GPIOA,
			.init = {
				.GPIO_Pin   = GPIO_Pin_9,
				.GPIO_Mode  = GPIO_Mode_Out_PP,
				.GPIO_Speed = GPIO_Speed_50MHz,
			},
		},
	},
	[PIOS_LED_D4] = {
		.pin = {
			.gpio = GPIOA,
			.init = {
				.GPIO_Pin   = GPIO_Pin_10,
				.GPIO_Mode  = GPIO_Mode_Out_PP,
				.GPIO_Speed = GPIO_Speed_50MHz,
			},
		},
	},
#endif
};

static const struct pios_led_cfg pios_led_cfg = {
	.leds     = pios_leds,
	.num_leds = NELEMENTS(pios_leds),
};

const struct pios_led_cfg * PIOS_BOARD_HW_DEFS_GetLedCfg (uint32_t board_revision)
{
	return &pios_led_cfg;
}

#endif	/* PIOS_INCLUDE_LED */

#if defined(PIOS_INCLUDE_SPI)

#include <pios_spi_priv.h>

/* OP Interface
 *
 * NOTE: Leave this declared as const data so that it ends up in the
 * .rodata section (ie. Flash) rather than in the .bss section (RAM).
 */
void PIOS_SPI_port_irq_handler(void);
void DMA1_Channel5_IRQHandler() __attribute__ ((alias ("PIOS_SPI_port_irq_handler")));
void DMA1_Channel4_IRQHandler() __attribute__ ((alias ("PIOS_SPI_port_irq_handler")));

static const struct pios_spi_cfg pios_spi_rfm22b_cfg =
{
	.regs = SPI1,

	.init =
	{
		.SPI_Mode = SPI_Mode_Master,
		.SPI_Direction = SPI_Direction_2Lines_FullDuplex,
		.SPI_DataSize = SPI_DataSize_8b,
		.SPI_NSS = SPI_NSS_Soft,
		.SPI_FirstBit = SPI_FirstBit_MSB,
		.SPI_CRCPolynomial = 0,
		.SPI_CPOL = SPI_CPOL_Low,
		.SPI_CPHA = SPI_CPHA_1Edge,
		.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_16,		// slowest SCLK
	},
	.use_crc = FALSE,

	.dma =
	{
		.ahb_clk = RCC_AHBPeriph_DMA1,
		.irq =
		{
		      .flags   = (DMA1_FLAG_TC2 | DMA1_FLAG_TE2 | DMA1_FLAG_HT2 | DMA1_FLAG_GL2),
		      .init    = {
			.NVIC_IRQChannel                   = DMA1_Channel2_IRQn,
			.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
			.NVIC_IRQChannelSubPriority        = 0,
			.NVIC_IRQChannelCmd                = ENABLE,
		      },
		    },

		    .rx = {
		      .channel = DMA1_Channel2,
		      .init    = {
			.DMA_PeripheralBaseAddr = (uint32_t)&(SPI1->DR),
			.DMA_DIR                = DMA_DIR_PeripheralSRC,
			.DMA_PeripheralInc      = DMA_PeripheralInc_Disable,
			.DMA_MemoryInc          = DMA_MemoryInc_Enable,
			.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
			.DMA_MemoryDataSize     = DMA_MemoryDataSize_Byte,
			.DMA_Mode               = DMA_Mode_Normal,
			.DMA_Priority           = DMA_Priority_Medium,
			.DMA_M2M                = DMA_M2M_Disable,
		      },
		    },
		    .tx = {
		      .channel = DMA1_Channel3,
		      .init    = {
			.DMA_PeripheralBaseAddr = (uint32_t)&(SPI1->DR),
			.DMA_DIR                = DMA_DIR_PeripheralDST,
			.DMA_PeripheralInc      = DMA_PeripheralInc_Disable,
			.DMA_MemoryInc          = DMA_MemoryInc_Enable,
			.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
			.DMA_MemoryDataSize     = DMA_MemoryDataSize_Byte,
			.DMA_Mode               = DMA_Mode_Normal,
			.DMA_Priority           = DMA_Priority_Medium,
			.DMA_M2M                = DMA_M2M_Disable,
		      },
		    },
	},
	.slave_count = 1,
	.ssel =
	{{
		.gpio = GPIOA,
		.init =
		{
			.GPIO_Pin = GPIO_Pin_4,
			.GPIO_Speed = GPIO_Speed_10MHz,
			.GPIO_Mode = GPIO_Mode_Out_PP,
		},
	}},
	.sclk =
	{
		.gpio = GPIOA,
		.init =
		{
			.GPIO_Pin = GPIO_Pin_5,
			.GPIO_Speed = GPIO_Speed_10MHz,
			.GPIO_Mode = GPIO_Mode_AF_PP,
		},
	},
	.miso =
	{
		.gpio = GPIOA,
		.init =
		{
			.GPIO_Pin = GPIO_Pin_6,
			.GPIO_Speed = GPIO_Speed_10MHz,
			.GPIO_Mode  = GPIO_Mode_IN_FLOATING,
		},
	},
	.mosi =
	{
		.gpio = GPIOA,
		.init =
		{
			.GPIO_Pin = GPIO_Pin_7,
			.GPIO_Speed = GPIO_Speed_10MHz,
			.GPIO_Mode = GPIO_Mode_AF_PP,
		},
	},
};

uint32_t pios_spi_rfm22b_id;
void PIOS_SPI_port_irq_handler(void)
{
	/* Call into the generic code to handle the IRQ for this specific device */
	PIOS_SPI_IRQ_Handler(pios_spi_rfm22b_id);
}

#endif /* PIOS_INCLUDE_SPI */

#if defined(PIOS_INCLUDE_RFM22B)

#include <pios_rfm22b_priv.h>

static const struct pios_exti_cfg pios_exti_rfm22b_cfg __exti_config = {
	.vector = PIOS_RFM22_EXT_Int,
	.line = EXTI_Line2,
	.pin = {
		.gpio = GPIOA,
		.init = {
			.GPIO_Pin = GPIO_Pin_2,
			.GPIO_Mode = GPIO_Mode_IN_FLOATING,
		},
	},
	.irq = {
		.init = {
			.NVIC_IRQChannel = EXTI2_IRQn,
			.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW,
			.NVIC_IRQChannelSubPriority = 0,
			.NVIC_IRQChannelCmd = ENABLE,
		},
	},
	.exti = {
		.init = {
			.EXTI_Line = EXTI_Line2,
			.EXTI_Mode = EXTI_Mode_Interrupt,
			.EXTI_Trigger = EXTI_Trigger_Falling,
			.EXTI_LineCmd = ENABLE,
		},
	},
};

#include <pios_rfm22b_priv.h>

struct pios_rfm22b_cfg pios_rfm22b_cfg = {
	.spi_cfg = &pios_spi_rfm22b_cfg,
	.exti_cfg = &pios_exti_rfm22b_cfg,
	.RFXtalCap = 0x7f,
	.slave_num = 0,
	.gpio_direction = GPIO0_TX_GPIO1_RX,
};

//! Compatibility layer for various hardware revisions
const struct pios_rfm22b_cfg * PIOS_BOARD_HW_DEFS_GetRfm22Cfg (uint32_t board_revision)
{
	return &pios_rfm22b_cfg;
}

#endif /* PIOS_INCLUDE_RFM22B */

#if defined(PIOS_INCLUDE_ADC)

/*
 * ADC system
 */
#include "pios_adc_priv.h"
extern void PIOS_ADC_handler(void);
void DMA1_Channel1_IRQHandler() __attribute__ ((alias("PIOS_ADC_handler")));
// Remap the ADC DMA handler to this one
static const struct pios_adc_cfg pios_adc_cfg = {
	.dma = {
		.ahb_clk  = RCC_AHBPeriph_DMA1,
		.irq = {
			.flags   = (DMA1_FLAG_TC1 | DMA1_FLAG_TE1 | DMA1_FLAG_HT1 | DMA1_FLAG_GL1),
			.init    = {
				.NVIC_IRQChannel                   = DMA1_Channel1_IRQn,
				.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
				.NVIC_IRQChannelSubPriority        = 0,
				.NVIC_IRQChannelCmd                = ENABLE,
			},
		},
		.rx = {
			.channel = DMA1_Channel1,
			.init    = {
				.DMA_PeripheralBaseAddr = (uint32_t) & ADC1->DR,
				.DMA_DIR                = DMA_DIR_PeripheralSRC,
				.DMA_PeripheralInc      = DMA_PeripheralInc_Disable,
				.DMA_MemoryInc          = DMA_MemoryInc_Enable,
				.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Word,
				.DMA_MemoryDataSize     = DMA_MemoryDataSize_Word,
				.DMA_Mode               = DMA_Mode_Circular,
				.DMA_Priority           = DMA_Priority_High,
				.DMA_M2M                = DMA_M2M_Disable,
			},
		}
	}, 
	.half_flag = DMA1_IT_HT1,
	.full_flag = DMA1_IT_TC1,
};

struct pios_adc_dev pios_adc_devs[] = {
	{
		.cfg = &pios_adc_cfg,
		.callback_function = NULL,
	},
};

uint8_t pios_adc_num_devices = NELEMENTS(pios_adc_devs);

void PIOS_ADC_handler() {
	PIOS_ADC_DMA_Handler();
}

#endif	/* PIOS_INCLUDE_ADC */

#if defined(PIOS_INCLUDE_TIM)

#include "pios_tim_priv.h"

static const TIM_TimeBaseInitTypeDef tim_1_2_3_4_time_base = {
	.TIM_Prescaler = (PIOS_MASTER_CLOCK / 1000000) - 1,
	.TIM_ClockDivision = TIM_CKD_DIV1,
	.TIM_CounterMode = TIM_CounterMode_Up,
	.TIM_Period = ((1000000 / PIOS_SERVO_UPDATE_HZ) - 1),
	.TIM_RepetitionCounter = 0x0000,
};

static const struct pios_tim_clock_cfg tim_1_cfg = {
	.timer = TIM1,
	.time_base_init = &tim_1_2_3_4_time_base,
	.irq = {
		.init = {
			.NVIC_IRQChannel                   = TIM1_CC_IRQn,
			.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
			.NVIC_IRQChannelSubPriority        = 0,
			.NVIC_IRQChannelCmd                = ENABLE,
		},
	},
};

static const struct pios_tim_clock_cfg tim_2_cfg = {
	.timer = TIM2,
	.time_base_init = &tim_1_2_3_4_time_base,
	.irq = {
		.init = {
			.NVIC_IRQChannel                   = TIM2_IRQn,
			.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
			.NVIC_IRQChannelSubPriority        = 0,
			.NVIC_IRQChannelCmd                = ENABLE,
		},
	},
};

static const struct pios_tim_clock_cfg tim_3_cfg = {
	.timer = TIM3,
	.time_base_init = &tim_1_2_3_4_time_base,
	.irq = {
		.init = {
			.NVIC_IRQChannel                   = TIM3_IRQn,
			.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
			.NVIC_IRQChannelSubPriority        = 0,
			.NVIC_IRQChannelCmd                = ENABLE,
		},
	},
};

static const struct pios_tim_clock_cfg tim_4_cfg = {
	.timer = TIM4,
	.time_base_init = &tim_1_2_3_4_time_base,
	.irq = {
		.init = {
			.NVIC_IRQChannel                   = TIM4_IRQn,
			.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
			.NVIC_IRQChannelSubPriority        = 0,
			.NVIC_IRQChannelCmd                = ENABLE,
		},
	},
};

static const struct pios_tim_channel pios_tim_ppm_flexi_port = {
	.timer = TIM2,
	.timer_chan = TIM_Channel_4,
	.pin = {
		.gpio = GPIOB,
		.init = {
			.GPIO_Pin   = GPIO_Pin_11,
			.GPIO_Mode  = GPIO_Mode_IPD,
			.GPIO_Speed = GPIO_Speed_2MHz,
		},
	},
	.remap = GPIO_PartialRemap2_TIM2,
};

static const struct pios_tim_channel pios_tim_ppm_main_port = {
	.timer = TIM1,
	.timer_chan = TIM_Channel_2,
	.pin = {
		.gpio = GPIOA,
		.init = {
			.GPIO_Pin   = GPIO_Pin_9,
			.GPIO_Mode  = GPIO_Mode_IPD,
			.GPIO_Speed = GPIO_Speed_2MHz,
		},
	},
};

#endif	/* PIOS_INCLUDE_TIM */

#if defined(PIOS_INCLUDE_USART)

#include <pios_usart_priv.h>

/*
 * SERIAL USART
 */
static const struct pios_usart_cfg pios_usart_serial_cfg =
{
	.regs = USART1,
	.init =
	{
		.USART_BaudRate = 57600,
		.USART_WordLength = USART_WordLength_8b,
		.USART_Parity = USART_Parity_No,
		.USART_StopBits = USART_StopBits_1,
		.USART_HardwareFlowControl = USART_HardwareFlowControl_None,
		.USART_Mode = USART_Mode_Rx | USART_Mode_Tx,
	},
	.irq =
	{
		.init =
		{
			.NVIC_IRQChannel = USART1_IRQn,
			.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
			.NVIC_IRQChannelSubPriority = 0,
			.NVIC_IRQChannelCmd = ENABLE,
		},
	},
	.rx =
	{
		.gpio = GPIOA,
		.init =
		{
			.GPIO_Pin = GPIO_Pin_10,
			.GPIO_Speed = GPIO_Speed_2MHz,
			.GPIO_Mode = GPIO_Mode_IPU,
		},
	},
	.tx =
	{
		.gpio = GPIOA,
		.init =
		{
			.GPIO_Pin = GPIO_Pin_9,
			.GPIO_Speed = GPIO_Speed_2MHz,
			.GPIO_Mode = GPIO_Mode_AF_PP,
		},
	},
};

static const struct pios_usart_cfg pios_usart_telem_flexi_cfg = {
  .regs  = USART3,
  .init = {
    .USART_BaudRate            = 57600,
    .USART_WordLength          = USART_WordLength_8b,
    .USART_Parity              = USART_Parity_No,
    .USART_StopBits            = USART_StopBits_1,
    .USART_HardwareFlowControl = USART_HardwareFlowControl_None,
    .USART_Mode                = USART_Mode_Rx | USART_Mode_Tx,
  },
  .irq = {
    .init    = {
      .NVIC_IRQChannel                   = USART3_IRQn,
      .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
      .NVIC_IRQChannelSubPriority        = 0,
      .NVIC_IRQChannelCmd                = ENABLE,
    },
  },
  .rx   = {
    .gpio = GPIOB,
    .init = {
      .GPIO_Pin   = GPIO_Pin_11,
      .GPIO_Speed = GPIO_Speed_2MHz,
      .GPIO_Mode  = GPIO_Mode_IPU,
    },
  },
  .tx   = {
    .gpio = GPIOB,
    .init = {
      .GPIO_Pin   = GPIO_Pin_10,
      .GPIO_Speed = GPIO_Speed_2MHz,
      .GPIO_Mode  = GPIO_Mode_AF_PP,
    },
  },
};

#endif /* PIOS_INCLUDE_USART */

#if defined(PIOS_INCLUDE_COM)

#include <pios_com_priv.h>

#endif /* PIOS_INCLUDE_COM */

#if defined(PIOS_INCLUDE_RTC)
/*
 * Realtime Clock (RTC)
 */
#include <pios_rtc_priv.h>

void PIOS_RTC_IRQ_Handler (void);
void RTC_IRQHandler() __attribute__ ((alias ("PIOS_RTC_IRQ_Handler")));
static const struct pios_rtc_cfg pios_rtc_main_cfg = {
	.clksrc = RCC_RTCCLKSource_HSE_Div128,
	.prescaler = 100,
	.irq = {
		.init = {
			.NVIC_IRQChannel                   = RTC_IRQn,
			.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
			.NVIC_IRQChannelSubPriority        = 0,
			.NVIC_IRQChannelCmd                = ENABLE,
		  },
	},
};

void PIOS_RTC_IRQ_Handler (void)
{
	PIOS_RTC_irq_handler ();
}

#endif

/*
 * PPM Inputs
 */
#if defined(PIOS_INCLUDE_PPM)
#include <pios_ppm_priv.h>

const struct pios_ppm_cfg pios_ppm_flexi_cfg = {
	.tim_ic_init = {
		.TIM_ICPolarity = TIM_ICPolarity_Rising,
		.TIM_ICSelection = TIM_ICSelection_DirectTI,
		.TIM_ICPrescaler = TIM_ICPSC_DIV1,
		.TIM_ICFilter = 0x0,
	},
	.channels = &pios_tim_ppm_flexi_port,
	.num_channels = 1,
};

const struct pios_ppm_cfg pios_ppm_main_cfg = {
	.tim_ic_init = {
		.TIM_ICPolarity = TIM_ICPolarity_Rising,
		.TIM_ICSelection = TIM_ICSelection_DirectTI,
		.TIM_ICPrescaler = TIM_ICPSC_DIV1,
		.TIM_ICFilter = 0x0,
	},
	.channels = &pios_tim_ppm_main_port,
	.num_channels = 1,
};

#endif	/* PIOS_INCLUDE_PPM */

/*
 * PPM Output
 */
#if defined(PIOS_INCLUDE_PPM_OUT)
#include <pios_ppm_out_priv.h>

uint32_t pios_ppm_id;

static const struct pios_tim_channel pios_tim_ppmout[] = {
	{
		.timer = TIM2,
		.timer_chan = TIM_Channel_3,
		.pin = {
			.gpio = GPIOB,
			.init = {
				.GPIO_Pin   = GPIO_Pin_10,
				.GPIO_Mode  = GPIO_Mode_AF_PP,
				.GPIO_Speed = GPIO_Speed_2MHz,
			},
		},
		.remap = GPIO_FullRemap_TIM2,
	}
};

const struct pios_ppm_out_cfg pios_ppm_out_cfg = {
	.tim_oc_init = {
		.TIM_OCMode = TIM_OCMode_PWM1,
		.TIM_OutputState = TIM_OutputState_Enable,
		.TIM_OutputNState = TIM_OutputNState_Disable,
		.TIM_Pulse = PIOS_SERVOS_INITIAL_POSITION,
		.TIM_OCPolarity = TIM_OCPolarity_Low,
		.TIM_OCNPolarity = TIM_OCPolarity_Low,
		.TIM_OCIdleState = TIM_OCIdleState_Reset,
		.TIM_OCNIdleState = TIM_OCNIdleState_Reset,
	},
	.channel = pios_tim_ppmout,
};

#endif /* PIOS_INCLUDE_PPM_OUT */

#if defined(PIOS_INCLUDE_RCVR)
#include "pios_rcvr_priv.h"

#endif /* PIOS_INCLUDE_RCVR */

#if defined(PIOS_INCLUDE_USB)
#include "pios_usb_priv.h"

static const struct pios_usb_cfg pios_usb_main_cfg = {
	.irq = {
		.init    = {
			.NVIC_IRQChannel                   = USB_LP_CAN1_RX0_IRQn,
			.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW,
			.NVIC_IRQChannelSubPriority        = 0,
			.NVIC_IRQChannelCmd                = ENABLE,
		},
	},
	.vsense = {
		.gpio = GPIOA,
		.init = {
			.GPIO_Pin   = GPIO_Pin_8,
			.GPIO_Speed = GPIO_Speed_10MHz,
			.GPIO_Mode  = GPIO_Mode_AF_OD,
		},
	}
};

#include "pios_usb_board_data_priv.h"
#include "pios_usb_desc_hid_cdc_priv.h"
#include "pios_usb_desc_hid_only_priv.h"

#endif	/* PIOS_INCLUDE_USB */

#if defined(PIOS_INCLUDE_COM_MSG)

#include <pios_com_msg_priv.h>

#endif /* PIOS_INCLUDE_COM_MSG */

#if defined(PIOS_INCLUDE_USB_HID)
#include <pios_usb_hid_priv.h>

const struct pios_usb_hid_cfg pios_usb_hid_cfg = {
	.data_if = 2,
	.data_rx_ep = 1,
	.data_tx_ep = 1,
};
#endif /* PIOS_INCLUDE_USB_HID */

#if defined(PIOS_INCLUDE_USB_CDC)
#include <pios_usb_cdc_priv.h>

const struct pios_usb_cdc_cfg pios_usb_cdc_cfg = {
	.ctrl_if = 0,
	.ctrl_tx_ep = 2,

	.data_if = 1,
	.data_rx_ep = 3,
	.data_tx_ep = 3,
};
#endif	/* PIOS_INCLUDE_USB_CDC */

#if defined(PIOS_INCLUDE_FLASH_EEPROM)
#include <pios_eeprom.h>

const struct pios_eeprom_cfg pios_eeprom_cfg = {
	.base_address = PIOS_FLASH_EEPROM_ADDR,
	.max_size = PIOS_FLASH_EEPROM_LEN,
};
#endif /* PIOS_INCLUDE_FLASH_EEPROM */

#if defined(PIOS_INCLUDE_RFM22B)
#include <pios_rfm22b_priv.h>

#endif /* PIOS_INCLUDE_RFM22B */