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LibrePilot/flight/PipXtreme/pios_board.c

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/**
******************************************************************************
*
* @file pios_board.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Defines board specific static initializers for hardware for the PipBee board.
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* 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, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include <pios.h>
// ***********************************************************************************
// SPI
#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_port_cfg =
{
.regs = SPI1,
// .regs = SPI2,
// .regs = SPI3,
.init =
{
.SPI_Mode = SPI_Mode_Master,
// .SPI_Mode = SPI_Mode_Slave,
.SPI_Direction = SPI_Direction_2Lines_FullDuplex,
// .SPI_Direction = SPI_Direction_2Lines_RxOnly,
// .SPI_Direction = SPI_Direction_1Line_Rx,
// .SPI_Direction = SPI_Direction_1Line_Tx,
// .SPI_DataSize = SPI_DataSize_16b,
.SPI_DataSize = SPI_DataSize_8b,
.SPI_NSS = SPI_NSS_Soft,
// .SPI_NSS = SPI_NSS_Hard,
.SPI_FirstBit = SPI_FirstBit_MSB,
// .SPI_FirstBit = SPI_FirstBit_LSB,
.SPI_CRCPolynomial = 0,
.SPI_CPOL = SPI_CPOL_Low,
// .SPI_CPOL = SPI_CPOL_High,
.SPI_CPHA = SPI_CPHA_1Edge,
// .SPI_CPHA = SPI_CPHA_2Edge,
// .SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_2, // fastest SCLK
// .SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_4,
// .SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_8,
// .SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_16,
// .SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_32,
// .SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_64,
// .SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_128,
.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_256, // slowest SCLK
},
.use_crc = FALSE,
.dma =
{
.ahb_clk = RCC_AHBPeriph_DMA1,
.irq =
{
.handler = PIOS_SPI_port_irq_handler,
.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,
},
},
},
.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,
// .GPIO_Mode = GPIO_Mode_IPU,
},
},
.mosi =
{
.gpio = GPIOA,
.init =
{
.GPIO_Pin = GPIO_Pin_7,
.GPIO_Speed = GPIO_Speed_10MHz,
.GPIO_Mode = GPIO_Mode_AF_PP,
},
},
};
uint32_t pios_spi_port_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_port_id);
}
#endif /* PIOS_INCLUDE_SPI */
/*
* 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
const struct pios_adc_cfg pios_adc_cfg = {
.dma = {
.ahb_clk = RCC_AHBPeriph_DMA1,
.irq = {
.handler = PIOS_ADC_DMA_Handler,
.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();
}
// ***********************************************************************************
// USART
#if defined(PIOS_INCLUDE_USART)
#include <pios_usart_priv.h>
/*
* SERIAL USART
*/
void PIOS_USART_serial_irq_handler(void);
void USART1_IRQHandler() __attribute__ ((alias ("PIOS_USART_serial_irq_handler")));
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 =
{
.handler = PIOS_USART_serial_irq_handler,
.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 uint32_t pios_usart_serial_id;
void PIOS_USART_serial_irq_handler(void)
{
PIOS_USART_IRQ_Handler(pios_usart_serial_id);
}
#endif /* PIOS_INCLUDE_USART */
// ***********************************************************************************
#if defined(PIOS_INCLUDE_COM)
#include <pios_com_priv.h>
#endif /* PIOS_INCLUDE_COM */
// ***********************************************************************************
extern const struct pios_com_driver pios_usb_com_driver;
uint32_t pios_com_serial_id;
uint32_t pios_com_telem_usb_id;
/**
* PIOS_Board_Init()
* initializes all the core subsystems on this specific hardware
* called from System/openpilot.c
*/
void PIOS_Board_Init(void) {
// Bring up System using CMSIS functions, enables the LEDs.
PIOS_SYS_Init();
// turn all the leds on
USB_LED_ON;
LINK_LED_ON;
RX_LED_ON;
TX_LED_ON;
// Delay system
PIOS_DELAY_Init();
if (PIOS_USART_Init(&pios_usart_serial_id, &pios_usart_serial_cfg)) {
PIOS_DEBUG_Assert(0);
}
if (PIOS_COM_Init(&pios_com_serial_id, &pios_usart_com_driver, pios_usart_serial_id)) {
PIOS_DEBUG_Assert(0);
}
#if defined(PIOS_INCLUDE_USB_HID)
PIOS_USB_HID_Init(0);
#if defined(PIOS_INCLUDE_COM)
if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_com_driver, 0)) {
PIOS_DEBUG_Assert(0);
}
#endif /* PIOS_INCLUDE_COM */
#endif /* PIOS_INCLUDE_USB_HID */
// ADC system
// PIOS_ADC_Init();
// SPI link to master
if (PIOS_SPI_Init(&pios_spi_port_id, &pios_spi_port_cfg)) {
PIOS_DEBUG_Assert(0);
}
}