LibrePilot/flight/Bootloaders/AHRS/pios_board.c

/**
 ******************************************************************************
 *
 * @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 AHRS 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>

#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_op_irq_handler(void);
void DMA1_Channel5_IRQHandler() __attribute__ ((alias ("PIOS_SPI_op_irq_handler")));
void DMA1_Channel4_IRQHandler() __attribute__ ((alias ("PIOS_SPI_op_irq_handler")));
static const struct pios_spi_cfg
		pios_spi_op_cfg = {
				.regs = SPI2,
				.init = {
					.SPI_Mode = SPI_Mode_Slave,
					.SPI_Direction = SPI_Direction_2Lines_FullDuplex,
					.SPI_DataSize = SPI_DataSize_8b,
					.SPI_NSS = SPI_NSS_Hard,
					.SPI_FirstBit = SPI_FirstBit_MSB,
					.SPI_CRCPolynomial = 7,
					.SPI_CPOL = SPI_CPOL_High,
					.SPI_CPHA = SPI_CPHA_2Edge,
				},
				.use_crc = TRUE,
				.dma = {
					.ahb_clk = RCC_AHBPeriph_DMA1,

					.irq = {
						.flags = (DMA1_FLAG_TC4 | DMA1_FLAG_TE4 | DMA1_FLAG_HT4 | DMA1_FLAG_GL4),
						.init = {
							.NVIC_IRQChannel = DMA1_Channel4_IRQn,
							.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
							.NVIC_IRQChannelSubPriority = 0,
							.NVIC_IRQChannelCmd = ENABLE,
						},
					},

					.rx = {
						.channel = DMA1_Channel4,
						.init = {
							.DMA_PeripheralBaseAddr = (uint32_t)&(SPI2->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_Channel5,
						.init = {
							.DMA_PeripheralBaseAddr = (uint32_t)&(SPI2->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 = GPIOB,
					.init = {
						.GPIO_Pin = GPIO_Pin_12,
						.GPIO_Speed = GPIO_Speed_50MHz,
						.GPIO_Mode = GPIO_Mode_IN_FLOATING,
					},
				}, .sclk = {
					.gpio = GPIOB,
					.init = {
						.GPIO_Pin = GPIO_Pin_13,
						.GPIO_Speed = GPIO_Speed_50MHz,
						.GPIO_Mode = GPIO_Mode_IN_FLOATING,
					},
				}, .miso = {
					.gpio = GPIOB,
					.init = {
						.GPIO_Pin = GPIO_Pin_14,
						.GPIO_Speed = GPIO_Speed_50MHz,
						.GPIO_Mode = GPIO_Mode_AF_PP,
					},
				}, .mosi = {
					.gpio = GPIOB,
					.init = {
						.GPIO_Pin = GPIO_Pin_15,
						.GPIO_Speed = GPIO_Speed_50MHz,
						.GPIO_Mode = GPIO_Mode_IN_FLOATING,
					},
				}, };

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

#endif /* PIOS_INCLUDE_SPI */

#include "bl_fsm.h"		/* lfsm_* */

static bool board_init_complete = false;
void PIOS_Board_Init() {
	if (board_init_complete) {
		return;
	}

	/* Set up the SPI interface to the OP board */
	if (PIOS_SPI_Init(&pios_spi_op_id, &pios_spi_op_cfg)) {
		PIOS_DEBUG_Assert(0);
	}
	lfsm_attach(pios_spi_op_id);
	lfsm_init();

	board_init_complete = true;
}