2015-07-10 00:42:05 +02:00
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/**
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******************************************************************************
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* @file board_hw_defs.c
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2015-08-12 14:02:29 +02:00
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* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015.
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* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
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* PhoenixPilot, http://github.com/PhoenixPilot, Copyright (C) 2012
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*
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2015-07-10 00:42:05 +02:00
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* @addtogroup OpenPilotSystem OpenPilot System
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* @{
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* @addtogroup OpenPilotCore OpenPilot Core
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* @{
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* @brief Defines board specific static initializers for hardware for the CopterControl board.
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#define BOARD_REVISION_CC 1
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#define BOARD_REVISION_CC3D 2
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#if defined(PIOS_INCLUDE_LED)
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#include <pios_led_priv.h>
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static const struct pios_gpio pios_leds_cc[] = {
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[PIOS_LED_HEARTBEAT] = {
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.pin = {
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.gpio = GPIOA,
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.init = {
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.GPIO_Pin = GPIO_Pin_6,
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.GPIO_Mode = GPIO_Mode_Out_PP,
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.GPIO_Speed = GPIO_Speed_50MHz,
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},
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},
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.active_low = true
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},
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};
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static const struct pios_gpio_cfg pios_led_cfg_cc = {
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.gpios = pios_leds_cc,
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.num_gpios = NELEMENTS(pios_leds_cc),
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};
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static const struct pios_gpio pios_leds_cc3d[] = {
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[PIOS_LED_HEARTBEAT] = {
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.pin = {
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.gpio = GPIOB,
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.init = {
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.GPIO_Pin = GPIO_Pin_3,
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.GPIO_Mode = GPIO_Mode_Out_PP,
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.GPIO_Speed = GPIO_Speed_50MHz,
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},
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},
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.remap = GPIO_Remap_SWJ_JTAGDisable,
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.active_low = true
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},
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};
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static const struct pios_gpio_cfg pios_led_cfg_cc3d = {
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.gpios = pios_leds_cc3d,
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.num_gpios = NELEMENTS(pios_leds_cc3d),
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};
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const struct pios_gpio_cfg *PIOS_BOARD_HW_DEFS_GetLedCfg(uint32_t board_revision)
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{
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switch (board_revision) {
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case BOARD_REVISION_CC: return &pios_led_cfg_cc;
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case BOARD_REVISION_CC3D: return &pios_led_cfg_cc3d;
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default: return NULL;
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}
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}
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#endif /* PIOS_INCLUDE_LED */
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#if defined(PIOS_INCLUDE_SPI)
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#include <pios_spi_priv.h>
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/* Gyro interface */
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void PIOS_SPI_gyro_irq_handler(void);
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void DMA1_Channel2_IRQHandler() __attribute__((alias("PIOS_SPI_gyro_irq_handler")));
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void DMA1_Channel3_IRQHandler() __attribute__((alias("PIOS_SPI_gyro_irq_handler")));
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static const struct pios_spi_cfg pios_spi_gyro_cfg = {
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.regs = SPI1,
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.init = {
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.SPI_Mode = SPI_Mode_Master,
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.SPI_Direction = SPI_Direction_2Lines_FullDuplex,
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.SPI_DataSize = SPI_DataSize_8b,
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.SPI_NSS = SPI_NSS_Soft,
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.SPI_FirstBit = SPI_FirstBit_MSB,
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.SPI_CRCPolynomial = 7,
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.SPI_CPOL = SPI_CPOL_High,
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.SPI_CPHA = SPI_CPHA_2Edge,
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.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_16, /* 10 Mhz */
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},
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.use_crc = false,
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.dma = {
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.ahb_clk = RCC_AHBPeriph_DMA1,
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.irq = {
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.flags = (DMA1_FLAG_TC2 | DMA1_FLAG_TE2 | DMA1_FLAG_HT2 | DMA1_FLAG_GL2),
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.init = {
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.NVIC_IRQChannel = DMA1_Channel2_IRQn,
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.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
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.NVIC_IRQChannelSubPriority = 0,
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.NVIC_IRQChannelCmd = ENABLE,
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},
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},
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.rx = {
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.channel = DMA1_Channel2,
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.init = {
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.DMA_PeripheralBaseAddr = (uint32_t)&(SPI1->DR),
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.DMA_DIR = DMA_DIR_PeripheralSRC,
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.DMA_PeripheralInc = DMA_PeripheralInc_Disable,
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.DMA_MemoryInc = DMA_MemoryInc_Enable,
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.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
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.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte,
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.DMA_Mode = DMA_Mode_Normal,
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.DMA_Priority = DMA_Priority_Medium,
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.DMA_M2M = DMA_M2M_Disable,
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},
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},
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.tx = {
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.channel = DMA1_Channel3,
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.init = {
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.DMA_PeripheralBaseAddr = (uint32_t)&(SPI1->DR),
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.DMA_DIR = DMA_DIR_PeripheralDST,
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.DMA_PeripheralInc = DMA_PeripheralInc_Disable,
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.DMA_MemoryInc = DMA_MemoryInc_Enable,
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.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
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.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte,
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.DMA_Mode = DMA_Mode_Normal,
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.DMA_Priority = DMA_Priority_Medium,
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.DMA_M2M = DMA_M2M_Disable,
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},
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},
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},
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.sclk = {
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.gpio = GPIOA,
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.init = {
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.GPIO_Pin = GPIO_Pin_5,
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.GPIO_Speed = GPIO_Speed_50MHz,
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.GPIO_Mode = GPIO_Mode_AF_PP,
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},
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},
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.miso = {
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.gpio = GPIOA,
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.init = {
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.GPIO_Pin = GPIO_Pin_6,
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.GPIO_Speed = GPIO_Speed_50MHz,
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.GPIO_Mode = GPIO_Mode_IPU,
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},
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},
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.mosi = {
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.gpio = GPIOA,
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.init = {
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.GPIO_Pin = GPIO_Pin_7,
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.GPIO_Speed = GPIO_Speed_50MHz,
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.GPIO_Mode = GPIO_Mode_AF_PP,
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},
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},
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.slave_count = 1,
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.ssel = {
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{
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.gpio = GPIOA,
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.init = {
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.GPIO_Pin = GPIO_Pin_4,
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.GPIO_Speed = GPIO_Speed_50MHz,
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.GPIO_Mode = GPIO_Mode_Out_PP,
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},
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}
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},
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};
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static uint32_t pios_spi_gyro_id;
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void PIOS_SPI_gyro_irq_handler(void)
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{
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/* Call into the generic code to handle the IRQ for this specific device */
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PIOS_SPI_IRQ_Handler(pios_spi_gyro_id);
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}
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/* Flash/Accel Interface
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*
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* NOTE: Leave this declared as const data so that it ends up in the
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* .rodata section (ie. Flash) rather than in the .bss section (RAM).
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*/
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void PIOS_SPI_flash_accel_irq_handler(void);
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void DMA1_Channel4_IRQHandler() __attribute__((alias("PIOS_SPI_flash_accel_irq_handler")));
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void DMA1_Channel5_IRQHandler() __attribute__((alias("PIOS_SPI_flash_accel_irq_handler")));
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static const struct pios_spi_cfg pios_spi_flash_accel_cfg_cc3d = {
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.regs = SPI2,
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.init = {
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.SPI_Mode = SPI_Mode_Master,
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.SPI_Direction = SPI_Direction_2Lines_FullDuplex,
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.SPI_DataSize = SPI_DataSize_8b,
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.SPI_NSS = SPI_NSS_Soft,
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.SPI_FirstBit = SPI_FirstBit_MSB,
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.SPI_CRCPolynomial = 7,
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.SPI_CPOL = SPI_CPOL_High,
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.SPI_CPHA = SPI_CPHA_2Edge,
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.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_8,
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},
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.use_crc = false,
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.dma = {
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.ahb_clk = RCC_AHBPeriph_DMA1,
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.irq = {
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.flags = (DMA1_FLAG_TC4 | DMA1_FLAG_TE4 | DMA1_FLAG_HT4 | DMA1_FLAG_GL4),
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.init = {
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.NVIC_IRQChannel = DMA1_Channel4_IRQn,
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.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
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.NVIC_IRQChannelSubPriority = 0,
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.NVIC_IRQChannelCmd = ENABLE,
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},
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},
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.rx = {
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.channel = DMA1_Channel4,
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.init = {
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.DMA_PeripheralBaseAddr = (uint32_t)&(SPI2->DR),
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.DMA_DIR = DMA_DIR_PeripheralSRC,
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.DMA_PeripheralInc = DMA_PeripheralInc_Disable,
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.DMA_MemoryInc = DMA_MemoryInc_Enable,
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.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
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.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte,
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.DMA_Mode = DMA_Mode_Normal,
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.DMA_Priority = DMA_Priority_High,
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.DMA_M2M = DMA_M2M_Disable,
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},
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},
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.tx = {
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.channel = DMA1_Channel5,
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.init = {
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.DMA_PeripheralBaseAddr = (uint32_t)&(SPI2->DR),
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.DMA_DIR = DMA_DIR_PeripheralDST,
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.DMA_PeripheralInc = DMA_PeripheralInc_Disable,
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.DMA_MemoryInc = DMA_MemoryInc_Enable,
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.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
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.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte,
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.DMA_Mode = DMA_Mode_Normal,
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.DMA_Priority = DMA_Priority_High,
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.DMA_M2M = DMA_M2M_Disable,
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},
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},
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},
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.sclk = {
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.gpio = GPIOB,
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.init = {
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.GPIO_Pin = GPIO_Pin_13,
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.GPIO_Speed = GPIO_Speed_50MHz,
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.GPIO_Mode = GPIO_Mode_AF_PP,
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},
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},
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.miso = {
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.gpio = GPIOB,
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.init = {
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.GPIO_Pin = GPIO_Pin_14,
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.GPIO_Speed = GPIO_Speed_50MHz,
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.GPIO_Mode = GPIO_Mode_IN_FLOATING,
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},
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},
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.mosi = {
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.gpio = GPIOB,
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.init = {
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.GPIO_Pin = GPIO_Pin_15,
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.GPIO_Speed = GPIO_Speed_50MHz,
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.GPIO_Mode = GPIO_Mode_AF_PP,
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},
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},
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.slave_count = 2,
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.ssel = {
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{
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.gpio = GPIOB,
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.init = {
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.GPIO_Pin = GPIO_Pin_12,
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.GPIO_Speed = GPIO_Speed_50MHz,
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.GPIO_Mode = GPIO_Mode_Out_PP,
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}
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},{
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.gpio = GPIOC,
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.init = {
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.GPIO_Pin = GPIO_Pin_15,
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.GPIO_Speed = GPIO_Speed_50MHz,
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.GPIO_Mode = GPIO_Mode_Out_PP,
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},
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}
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},
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};
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static const struct pios_spi_cfg pios_spi_flash_accel_cfg_cc = {
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.regs = SPI2,
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.init = {
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.SPI_Mode = SPI_Mode_Master,
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.SPI_Direction = SPI_Direction_2Lines_FullDuplex,
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.SPI_DataSize = SPI_DataSize_8b,
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.SPI_NSS = SPI_NSS_Soft,
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.SPI_FirstBit = SPI_FirstBit_MSB,
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.SPI_CRCPolynomial = 7,
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.SPI_CPOL = SPI_CPOL_High,
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.SPI_CPHA = SPI_CPHA_2Edge,
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.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_8,
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},
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.use_crc = false,
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.dma = {
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.ahb_clk = RCC_AHBPeriph_DMA1,
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.irq = {
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.flags = (DMA1_FLAG_TC4 | DMA1_FLAG_TE4 | DMA1_FLAG_HT4 | DMA1_FLAG_GL4),
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.init = {
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.NVIC_IRQChannel = DMA1_Channel4_IRQn,
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.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
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.NVIC_IRQChannelSubPriority = 0,
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.NVIC_IRQChannelCmd = ENABLE,
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},
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},
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.rx = {
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.channel = DMA1_Channel4,
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.init = {
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.DMA_PeripheralBaseAddr = (uint32_t)&(SPI2->DR),
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.DMA_DIR = DMA_DIR_PeripheralSRC,
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.DMA_PeripheralInc = DMA_PeripheralInc_Disable,
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.DMA_MemoryInc = DMA_MemoryInc_Enable,
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.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
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.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte,
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.DMA_Mode = DMA_Mode_Normal,
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.DMA_Priority = DMA_Priority_High,
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.DMA_M2M = DMA_M2M_Disable,
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},
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},
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.tx = {
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.channel = DMA1_Channel5,
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.init = {
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.DMA_PeripheralBaseAddr = (uint32_t)&(SPI2->DR),
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.DMA_DIR = DMA_DIR_PeripheralDST,
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.DMA_PeripheralInc = DMA_PeripheralInc_Disable,
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.DMA_MemoryInc = DMA_MemoryInc_Enable,
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|
|
.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
|
|
|
|
.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte,
|
|
|
|
.DMA_Mode = DMA_Mode_Normal,
|
|
|
|
.DMA_Priority = DMA_Priority_High,
|
|
|
|
.DMA_M2M = DMA_M2M_Disable,
|
|
|
|
},
|
|
|
|
},
|
|
|
|
},
|
|
|
|
.sclk = {
|
|
|
|
.gpio = GPIOB,
|
|
|
|
.init = {
|
|
|
|
.GPIO_Pin = GPIO_Pin_13,
|
|
|
|
.GPIO_Speed = GPIO_Speed_50MHz,
|
|
|
|
.GPIO_Mode = GPIO_Mode_AF_PP,
|
|
|
|
},
|
|
|
|
},
|
|
|
|
.miso = {
|
|
|
|
.gpio = GPIOB,
|
|
|
|
.init = {
|
|
|
|
.GPIO_Pin = GPIO_Pin_14,
|
|
|
|
.GPIO_Speed = GPIO_Speed_50MHz,
|
|
|
|
.GPIO_Mode = GPIO_Mode_IN_FLOATING,
|
|
|
|
},
|
|
|
|
},
|
|
|
|
.mosi = {
|
|
|
|
.gpio = GPIOB,
|
|
|
|
.init = {
|
|
|
|
.GPIO_Pin = GPIO_Pin_15,
|
|
|
|
.GPIO_Speed = GPIO_Speed_50MHz,
|
|
|
|
.GPIO_Mode = GPIO_Mode_AF_PP,
|
|
|
|
},
|
|
|
|
},
|
|
|
|
.slave_count = 2,
|
|
|
|
.ssel = {
|
|
|
|
{
|
|
|
|
.gpio = GPIOB,
|
|
|
|
.init = {
|
|
|
|
.GPIO_Pin = GPIO_Pin_12,
|
|
|
|
.GPIO_Speed = GPIO_Speed_50MHz,
|
|
|
|
.GPIO_Mode = GPIO_Mode_Out_PP,
|
|
|
|
}
|
|
|
|
},{
|
|
|
|
.gpio = GPIOA,
|
|
|
|
.init = {
|
|
|
|
.GPIO_Pin = GPIO_Pin_7,
|
|
|
|
.GPIO_Speed = GPIO_Speed_50MHz,
|
|
|
|
.GPIO_Mode = GPIO_Mode_Out_PP,
|
|
|
|
},
|
|
|
|
}
|
|
|
|
},
|
|
|
|
};
|
|
|
|
|
|
|
|
static uint32_t pios_spi_flash_accel_id;
|
|
|
|
void PIOS_SPI_flash_accel_irq_handler(void)
|
|
|
|
{
|
|
|
|
/* Call into the generic code to handle the IRQ for this specific device */
|
|
|
|
PIOS_SPI_IRQ_Handler(pios_spi_flash_accel_id);
|
|
|
|
}
|
|
|
|
|
|
|
|
#endif /* PIOS_INCLUDE_SPI */
|
|
|
|
|
|
|
|
#if defined(PIOS_INCLUDE_FLASH)
|
|
|
|
#include "pios_flashfs_logfs_priv.h"
|
|
|
|
#include "pios_flash_jedec_priv.h"
|
|
|
|
|
|
|
|
static const struct flashfs_logfs_cfg flashfs_w25x_cfg = {
|
|
|
|
.fs_magic = 0x99abcdef,
|
|
|
|
.total_fs_size = 0x00080000, /* 512K bytes (128 sectors = entire chip) */
|
|
|
|
.arena_size = 0x00010000, /* 256 * slot size */
|
|
|
|
.slot_size = 0x00000100, /* 256 bytes */
|
|
|
|
|
|
|
|
.start_offset = 0, /* start at the beginning of the chip */
|
|
|
|
.sector_size = 0x00001000, /* 4K bytes */
|
|
|
|
.page_size = 0x00000100, /* 256 bytes */
|
|
|
|
};
|
|
|
|
|
|
|
|
|
|
|
|
static const struct flashfs_logfs_cfg flashfs_m25p_cfg = {
|
|
|
|
.fs_magic = 0x99abceef,
|
|
|
|
.total_fs_size = 0x00200000, /* 2M bytes (32 sectors = entire chip) */
|
|
|
|
.arena_size = 0x00010000, /* 256 * slot size */
|
|
|
|
.slot_size = 0x00000100, /* 256 bytes */
|
|
|
|
|
|
|
|
.start_offset = 0, /* start at the beginning of the chip */
|
|
|
|
.sector_size = 0x00010000, /* 64K bytes */
|
|
|
|
.page_size = 0x00000100, /* 256 bytes */
|
|
|
|
};
|
|
|
|
|
|
|
|
#include "pios_flash.h"
|
|
|
|
|
|
|
|
#endif /* PIOS_INCLUDE_FLASH */
|
|
|
|
|
|
|
|
/*
|
|
|
|
* ADC system
|
|
|
|
*/
|
|
|
|
#if defined(PIOS_INCLUDE_ADC)
|
|
|
|
#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_MID,
|
|
|
|
.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,
|
|
|
|
};
|
|
|
|
|
|
|
|
void PIOS_ADC_handler()
|
|
|
|
{
|
|
|
|
PIOS_ADC_DMA_Handler();
|
|
|
|
}
|
|
|
|
#endif /* if defined(PIOS_INCLUDE_ADC) */
|
|
|
|
|
|
|
|
#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,
|
|
|
|
},
|
|
|
|
},
|
|
|
|
};
|
|
|
|
|
2017-04-19 15:57:34 +02:00
|
|
|
#include "pios_servo_config.h"
|
2015-12-26 12:25:54 +01:00
|
|
|
|
2017-04-19 15:57:34 +02:00
|
|
|
static const struct pios_tim_channel pios_tim_rcvrport_all_channels[] = {
|
|
|
|
TIM_SERVO_CHANNEL_CONFIG(TIM4, 1, B, 6, 0),
|
|
|
|
TIM_SERVO_CHANNEL_CONFIG(TIM3, 2, B, 5, GPIO_PartialRemap_TIM3),
|
|
|
|
TIM_SERVO_CHANNEL_CONFIG(TIM3, 3, B, 0, 0),
|
|
|
|
TIM_SERVO_CHANNEL_CONFIG(TIM3, 4, B, 1, 0),
|
|
|
|
TIM_SERVO_CHANNEL_CONFIG(TIM2, 1, A, 0, 0),
|
|
|
|
TIM_SERVO_CHANNEL_CONFIG(TIM2, 2, A, 1, 0),
|
2015-12-26 12:25:54 +01:00
|
|
|
};
|
2015-07-30 15:30:59 +02:00
|
|
|
|
2017-04-19 15:57:34 +02:00
|
|
|
static const struct pios_tim_channel pios_tim_servoport_all_pins[] = {
|
|
|
|
TIM_SERVO_CHANNEL_CONFIG(TIM4, 4, B, 9, 0),
|
|
|
|
TIM_SERVO_CHANNEL_CONFIG(TIM4, 3, B, 8, 0),
|
|
|
|
TIM_SERVO_CHANNEL_CONFIG(TIM4, 2, B, 7, 0),
|
|
|
|
TIM_SERVO_CHANNEL_CONFIG(TIM1, 1, A, 8, 0),
|
|
|
|
TIM_SERVO_CHANNEL_CONFIG(TIM3, 1, B, 4, GPIO_PartialRemap_TIM3),
|
|
|
|
TIM_SERVO_CHANNEL_CONFIG(TIM2, 3, A, 2, 0),
|
2015-07-30 15:30:59 +02:00
|
|
|
};
|
|
|
|
|
2015-07-10 00:42:05 +02:00
|
|
|
|
2017-04-19 15:57:34 +02:00
|
|
|
static const struct pios_tim_channel pios_tim_servoport_rcvrport_pins[] = {
|
|
|
|
TIM_SERVO_CHANNEL_CONFIG(TIM4, 4, B, 9, 0),
|
|
|
|
TIM_SERVO_CHANNEL_CONFIG(TIM4, 3, B, 8, 0),
|
|
|
|
TIM_SERVO_CHANNEL_CONFIG(TIM4, 2, B, 7, 0),
|
|
|
|
TIM_SERVO_CHANNEL_CONFIG(TIM1, 1, A, 8, 0),
|
|
|
|
TIM_SERVO_CHANNEL_CONFIG(TIM3, 1, B, 4, GPIO_PartialRemap_TIM3),
|
|
|
|
TIM_SERVO_CHANNEL_CONFIG(TIM2, 3, A, 2, 0),
|
2016-08-03 17:31:41 +02:00
|
|
|
|
2017-04-19 15:57:34 +02:00
|
|
|
// Receiver port pins
|
|
|
|
// S3-S6 inputs are used as outputs in this case
|
|
|
|
TIM_SERVO_CHANNEL_CONFIG(TIM3, 3, B, 0, 0),
|
|
|
|
TIM_SERVO_CHANNEL_CONFIG(TIM3, 4, B, 1, 0),
|
|
|
|
TIM_SERVO_CHANNEL_CONFIG(TIM2, 1, A, 0, 0),
|
|
|
|
TIM_SERVO_CHANNEL_CONFIG(TIM2, 2, A, 1, 0),
|
2016-08-03 17:31:41 +02:00
|
|
|
};
|
|
|
|
|
2017-04-19 15:57:34 +02:00
|
|
|
static const struct pios_tim_channel pios_tim_ppm_flexi_port = TIM_SERVO_CHANNEL_CONFIG(TIM2, 4, B, 11, GPIO_PartialRemap2_TIM2);
|
2016-08-03 17:31:41 +02:00
|
|
|
|
2017-04-19 15:57:34 +02:00
|
|
|
#if defined(PIOS_INCLUDE_USART)
|
2015-07-10 00:42:05 +02:00
|
|
|
|
2017-04-19 15:57:34 +02:00
|
|
|
#include "pios_usart_priv.h"
|
2015-07-10 00:42:05 +02:00
|
|
|
|
2017-04-19 15:57:34 +02:00
|
|
|
// Inverter for SBUS handling
|
|
|
|
#define MAIN_USART_INVERTER_GPIO GPIOB
|
|
|
|
#define MAIN_USART_INVERTER_PIN GPIO_Pin_2
|
|
|
|
#define MAIN_USART_INVERTER_ENABLE Bit_SET
|
|
|
|
#define MAIN_USART_INVERTER_DISABLE Bit_RESET
|
2015-07-10 00:42:05 +02:00
|
|
|
|
2017-04-19 15:57:34 +02:00
|
|
|
static int32_t PIOS_BOARD_USART_Ioctl(uint32_t usart_id, uint32_t ctl, void *param);
|
2015-07-10 00:42:05 +02:00
|
|
|
|
2017-04-19 15:57:34 +02:00
|
|
|
static const struct pios_usart_cfg pios_usart_main_cfg = {
|
2015-07-10 00:42:05 +02:00
|
|
|
.regs = USART1,
|
|
|
|
.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,
|
|
|
|
},
|
|
|
|
},
|
2017-04-19 15:57:34 +02:00
|
|
|
.ioctl = PIOS_BOARD_USART_Ioctl,
|
2015-07-10 00:42:05 +02:00
|
|
|
};
|
|
|
|
|
2017-04-19 15:57:34 +02:00
|
|
|
static const struct pios_usart_cfg pios_usart_flexi_cfg = {
|
2015-07-10 00:42:05 +02:00
|
|
|
.regs = USART3,
|
|
|
|
.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 /* if defined(PIOS_INCLUDE_RTC) */
|
|
|
|
|
|
|
|
#if defined(PIOS_INCLUDE_SERVO) && defined(PIOS_INCLUDE_TIM)
|
|
|
|
/*
|
|
|
|
* Servo outputs
|
|
|
|
*/
|
|
|
|
#include <pios_servo_priv.h>
|
|
|
|
|
|
|
|
const struct pios_servo_cfg pios_servo_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_High,
|
|
|
|
.TIM_OCNPolarity = TIM_OCPolarity_High,
|
|
|
|
.TIM_OCIdleState = TIM_OCIdleState_Reset,
|
|
|
|
.TIM_OCNIdleState = TIM_OCNIdleState_Reset,
|
|
|
|
},
|
|
|
|
.channels = pios_tim_servoport_all_pins,
|
|
|
|
.num_channels = NELEMENTS(pios_tim_servoport_all_pins),
|
|
|
|
};
|
|
|
|
|
|
|
|
const struct pios_servo_cfg pios_servo_rcvr_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_High,
|
|
|
|
.TIM_OCNPolarity = TIM_OCPolarity_High,
|
|
|
|
.TIM_OCIdleState = TIM_OCIdleState_Reset,
|
|
|
|
.TIM_OCNIdleState = TIM_OCNIdleState_Reset,
|
|
|
|
},
|
|
|
|
.channels = pios_tim_servoport_rcvrport_pins,
|
|
|
|
.num_channels = NELEMENTS(pios_tim_servoport_rcvrport_pins),
|
|
|
|
};
|
|
|
|
|
|
|
|
#endif /* PIOS_INCLUDE_SERVO && PIOS_INCLUDE_TIM */
|
|
|
|
|
|
|
|
/*
|
|
|
|
* PPM Inputs
|
|
|
|
*/
|
|
|
|
#if defined(PIOS_INCLUDE_PPM)
|
|
|
|
#include <pios_ppm_priv.h>
|
|
|
|
|
|
|
|
const struct pios_ppm_cfg pios_ppm_cfg = {
|
|
|
|
.tim_ic_init = {
|
|
|
|
.TIM_ICPolarity = TIM_ICPolarity_Rising,
|
|
|
|
.TIM_ICSelection = TIM_ICSelection_DirectTI,
|
|
|
|
.TIM_ICPrescaler = TIM_ICPSC_DIV1,
|
|
|
|
.TIM_ICFilter = 0x0,
|
|
|
|
},
|
|
|
|
/* Use only the first channel for ppm */
|
|
|
|
.channels = &pios_tim_rcvrport_all_channels[0],
|
|
|
|
.num_channels = 1,
|
|
|
|
};
|
|
|
|
|
|
|
|
const struct pios_ppm_cfg pios_ppm_pin8_cfg = {
|
|
|
|
.tim_ic_init = {
|
|
|
|
.TIM_ICPolarity = TIM_ICPolarity_Rising,
|
|
|
|
.TIM_ICSelection = TIM_ICSelection_DirectTI,
|
|
|
|
.TIM_ICPrescaler = TIM_ICPSC_DIV1,
|
|
|
|
.TIM_ICFilter = 0x0,
|
|
|
|
},
|
|
|
|
/* Use only the first channel for ppm */
|
|
|
|
.channels = &pios_tim_rcvrport_all_channels[5],
|
|
|
|
.num_channels = 1,
|
|
|
|
};
|
|
|
|
|
|
|
|
#endif /* PIOS_INCLUDE_PPM */
|
|
|
|
|
|
|
|
#if defined(PIOS_INCLUDE_PPM_FLEXI)
|
|
|
|
#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,
|
|
|
|
};
|
|
|
|
|
|
|
|
#endif /* PIOS_INCLUDE_PPM_FLEXI */
|
|
|
|
|
|
|
|
/*
|
|
|
|
* PWM Inputs
|
|
|
|
*/
|
|
|
|
#if defined(PIOS_INCLUDE_PWM)
|
|
|
|
#include <pios_pwm_priv.h>
|
|
|
|
|
|
|
|
const struct pios_pwm_cfg pios_pwm_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_rcvrport_all_channels,
|
|
|
|
.num_channels = NELEMENTS(pios_tim_rcvrport_all_channels),
|
|
|
|
};
|
|
|
|
|
|
|
|
const struct pios_pwm_cfg pios_pwm_with_ppm_cfg = {
|
|
|
|
.tim_ic_init = {
|
|
|
|
.TIM_ICPolarity = TIM_ICPolarity_Rising,
|
|
|
|
.TIM_ICSelection = TIM_ICSelection_DirectTI,
|
|
|
|
.TIM_ICPrescaler = TIM_ICPSC_DIV1,
|
|
|
|
.TIM_ICFilter = 0x0,
|
|
|
|
},
|
|
|
|
/* Leave the first channel for PPM use and use the rest for PWM */
|
|
|
|
.channels = &pios_tim_rcvrport_all_channels[1],
|
|
|
|
.num_channels = NELEMENTS(pios_tim_rcvrport_all_channels) - 1,
|
|
|
|
};
|
|
|
|
|
|
|
|
#endif /* if defined(PIOS_INCLUDE_PWM) */
|
|
|
|
|
|
|
|
|
|
|
|
/*
|
|
|
|
* SONAR Inputs
|
|
|
|
*/
|
|
|
|
#if defined(PIOS_INCLUDE_HCSR04)
|
|
|
|
#include <pios_hcsr04_priv.h>
|
|
|
|
|
|
|
|
static const struct pios_tim_channel pios_tim_hcsr04_port_all_channels[] = {
|
|
|
|
{
|
|
|
|
.timer = TIM3,
|
|
|
|
.timer_chan = TIM_Channel_2,
|
|
|
|
.pin = {
|
|
|
|
.gpio = GPIOB,
|
|
|
|
.init = {
|
|
|
|
.GPIO_Pin = GPIO_Pin_5,
|
|
|
|
.GPIO_Mode = GPIO_Mode_IPD,
|
|
|
|
.GPIO_Speed = GPIO_Speed_2MHz,
|
|
|
|
},
|
|
|
|
},
|
|
|
|
.remap = GPIO_PartialRemap_TIM3,
|
|
|
|
},
|
|
|
|
};
|
|
|
|
|
|
|
|
const struct pios_hcsr04_cfg pios_hcsr04_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_hcsr04_port_all_channels,
|
|
|
|
.num_channels = NELEMENTS(pios_tim_hcsr04_port_all_channels),
|
|
|
|
.trigger = {
|
|
|
|
.gpio = GPIOB,
|
|
|
|
.init = {
|
|
|
|
.GPIO_Pin = GPIO_Pin_6,
|
|
|
|
.GPIO_Mode = GPIO_Mode_Out_PP,
|
|
|
|
.GPIO_Speed = GPIO_Speed_2MHz,
|
|
|
|
},
|
|
|
|
},
|
|
|
|
};
|
|
|
|
#endif /* if defined(PIOS_INCLUDE_HCSR04) */
|
|
|
|
|
|
|
|
#if defined(PIOS_INCLUDE_I2C)
|
|
|
|
|
|
|
|
#include <pios_i2c_priv.h>
|
|
|
|
|
|
|
|
/*
|
|
|
|
* I2C Adapters
|
|
|
|
*/
|
|
|
|
|
|
|
|
void PIOS_I2C_flexi_adapter_ev_irq_handler(void);
|
|
|
|
void PIOS_I2C_flexi_adapter_er_irq_handler(void);
|
|
|
|
void I2C2_EV_IRQHandler() __attribute__((alias("PIOS_I2C_flexi_adapter_ev_irq_handler")));
|
|
|
|
void I2C2_ER_IRQHandler() __attribute__((alias("PIOS_I2C_flexi_adapter_er_irq_handler")));
|
|
|
|
|
|
|
|
static const struct pios_i2c_adapter_cfg pios_i2c_flexi_adapter_cfg = {
|
|
|
|
.regs = I2C2,
|
|
|
|
.init = {
|
|
|
|
.I2C_Mode = I2C_Mode_I2C,
|
|
|
|
.I2C_OwnAddress1 = 0,
|
|
|
|
.I2C_Ack = I2C_Ack_Enable,
|
|
|
|
.I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit,
|
|
|
|
.I2C_DutyCycle = I2C_DutyCycle_2,
|
|
|
|
.I2C_ClockSpeed = 400000, /* bits/s */
|
|
|
|
},
|
|
|
|
.transfer_timeout_ms = 50,
|
|
|
|
.scl = {
|
|
|
|
.gpio = GPIOB,
|
|
|
|
.init = {
|
|
|
|
.GPIO_Pin = GPIO_Pin_10,
|
|
|
|
.GPIO_Speed = GPIO_Speed_10MHz,
|
|
|
|
.GPIO_Mode = GPIO_Mode_AF_OD,
|
|
|
|
},
|
|
|
|
},
|
|
|
|
.sda = {
|
|
|
|
.gpio = GPIOB,
|
|
|
|
.init = {
|
|
|
|
.GPIO_Pin = GPIO_Pin_11,
|
|
|
|
.GPIO_Speed = GPIO_Speed_10MHz,
|
|
|
|
.GPIO_Mode = GPIO_Mode_AF_OD,
|
|
|
|
},
|
|
|
|
},
|
|
|
|
.event = {
|
|
|
|
.flags = 0, /* FIXME: check this */
|
|
|
|
.init = {
|
|
|
|
.NVIC_IRQChannel = I2C2_EV_IRQn,
|
|
|
|
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST,
|
|
|
|
.NVIC_IRQChannelSubPriority = 0,
|
|
|
|
.NVIC_IRQChannelCmd = ENABLE,
|
|
|
|
},
|
|
|
|
},
|
|
|
|
.error = {
|
|
|
|
.flags = 0, /* FIXME: check this */
|
|
|
|
.init = {
|
|
|
|
.NVIC_IRQChannel = I2C2_ER_IRQn,
|
|
|
|
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST,
|
|
|
|
.NVIC_IRQChannelSubPriority = 0,
|
|
|
|
.NVIC_IRQChannelCmd = ENABLE,
|
|
|
|
},
|
|
|
|
},
|
|
|
|
};
|
|
|
|
|
|
|
|
uint32_t pios_i2c_flexi_adapter_id;
|
|
|
|
void PIOS_I2C_flexi_adapter_ev_irq_handler(void)
|
|
|
|
{
|
|
|
|
/* Call into the generic code to handle the IRQ for this specific device */
|
|
|
|
PIOS_I2C_EV_IRQ_Handler(pios_i2c_flexi_adapter_id);
|
|
|
|
}
|
|
|
|
|
|
|
|
void PIOS_I2C_flexi_adapter_er_irq_handler(void)
|
|
|
|
{
|
|
|
|
/* Call into the generic code to handle the IRQ for this specific device */
|
|
|
|
PIOS_I2C_ER_IRQ_Handler(pios_i2c_flexi_adapter_id);
|
|
|
|
}
|
|
|
|
|
|
|
|
#endif /* PIOS_INCLUDE_I2C */
|
|
|
|
|
|
|
|
#if defined(PIOS_INCLUDE_GCSRCVR)
|
|
|
|
#include "pios_gcsrcvr_priv.h"
|
|
|
|
#endif /* PIOS_INCLUDE_GCSRCVR */
|
|
|
|
|
|
|
|
#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_cc = {
|
|
|
|
.irq = {
|
|
|
|
.init = {
|
|
|
|
.NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn,
|
|
|
|
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW,
|
|
|
|
.NVIC_IRQChannelSubPriority = 0,
|
|
|
|
.NVIC_IRQChannelCmd = ENABLE,
|
|
|
|
},
|
|
|
|
},
|
|
|
|
.vsense = {
|
|
|
|
.gpio = GPIOC,
|
|
|
|
.init = {
|
|
|
|
.GPIO_Pin = GPIO_Pin_15,
|
|
|
|
.GPIO_Speed = GPIO_Speed_10MHz,
|
|
|
|
.GPIO_Mode = GPIO_Mode_AF_OD,
|
|
|
|
},
|
|
|
|
},
|
|
|
|
.vsense_active_low = false
|
|
|
|
};
|
|
|
|
|
|
|
|
static const struct pios_usb_cfg pios_usb_main_cfg_cc3d = {
|
|
|
|
.irq = {
|
|
|
|
.init = {
|
|
|
|
.NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn,
|
|
|
|
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW,
|
|
|
|
.NVIC_IRQChannelSubPriority = 0,
|
|
|
|
.NVIC_IRQChannelCmd = ENABLE,
|
|
|
|
},
|
|
|
|
},
|
|
|
|
.vsense = {
|
|
|
|
.gpio = GPIOC,
|
|
|
|
.init = {
|
|
|
|
.GPIO_Pin = GPIO_Pin_14,
|
|
|
|
.GPIO_Speed = GPIO_Speed_10MHz,
|
|
|
|
.GPIO_Mode = GPIO_Mode_AF_OD,
|
|
|
|
},
|
|
|
|
},
|
|
|
|
.vsense_active_low = false
|
|
|
|
};
|
|
|
|
|
2017-04-19 15:57:34 +02:00
|
|
|
const struct pios_usb_cfg *PIOS_BOARD_HW_DEFS_GetUsbCfg(uint32_t board_revision)
|
|
|
|
{
|
|
|
|
switch (board_revision) {
|
|
|
|
case BOARD_REVISION_CC:
|
|
|
|
return &pios_usb_main_cfg_cc;
|
|
|
|
|
|
|
|
break;
|
|
|
|
case BOARD_REVISION_CC3D:
|
|
|
|
return &pios_usb_main_cfg_cc3d;
|
|
|
|
|
|
|
|
break;
|
|
|
|
default:
|
|
|
|
PIOS_DEBUG_Assert(0);
|
|
|
|
}
|
|
|
|
return NULL;
|
|
|
|
}
|
|
|
|
|
2015-07-10 00:42:05 +02:00
|
|
|
#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 */
|
|
|
|
|
2017-04-19 15:57:34 +02:00
|
|
|
/**
|
|
|
|
* Configuration for MPU6000 chip
|
|
|
|
*/
|
|
|
|
#if defined(PIOS_INCLUDE_MPU6000)
|
|
|
|
#include "pios_mpu6000.h"
|
|
|
|
#include "pios_mpu6000_config.h"
|
|
|
|
static const struct pios_exti_cfg pios_exti_mpu6000_cfg __exti_config = {
|
|
|
|
.vector = PIOS_MPU6000_IRQHandler,
|
|
|
|
.line = EXTI_Line3,
|
|
|
|
.pin = {
|
|
|
|
.gpio = GPIOA,
|
|
|
|
.init = {
|
|
|
|
.GPIO_Pin = GPIO_Pin_3,
|
|
|
|
.GPIO_Speed = GPIO_Speed_10MHz,
|
|
|
|
.GPIO_Mode = GPIO_Mode_IN_FLOATING,
|
|
|
|
},
|
|
|
|
},
|
|
|
|
.irq = {
|
|
|
|
.init = {
|
|
|
|
.NVIC_IRQChannel = EXTI3_IRQn,
|
|
|
|
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
|
|
|
|
.NVIC_IRQChannelSubPriority = 0,
|
|
|
|
.NVIC_IRQChannelCmd = ENABLE,
|
|
|
|
},
|
|
|
|
},
|
|
|
|
.exti = {
|
|
|
|
.init = {
|
|
|
|
.EXTI_Line = EXTI_Line3, // matches above GPIO pin
|
|
|
|
.EXTI_Mode = EXTI_Mode_Interrupt,
|
|
|
|
.EXTI_Trigger = EXTI_Trigger_Rising,
|
|
|
|
.EXTI_LineCmd = ENABLE,
|
|
|
|
},
|
|
|
|
},
|
2015-07-10 00:42:05 +02:00
|
|
|
};
|
|
|
|
|
2017-04-19 15:57:34 +02:00
|
|
|
static const struct pios_mpu6000_cfg pios_mpu6000_cfg = {
|
|
|
|
.exti_cfg = &pios_exti_mpu6000_cfg,
|
|
|
|
.Fifo_store = PIOS_MPU6000_FIFO_TEMP_OUT | PIOS_MPU6000_FIFO_GYRO_X_OUT | PIOS_MPU6000_FIFO_GYRO_Y_OUT | PIOS_MPU6000_FIFO_GYRO_Z_OUT,
|
|
|
|
// Clock at 8 khz, downsampled by 8 for 1000 Hz
|
|
|
|
.Smpl_rate_div_no_dlp = 7,
|
|
|
|
// Clock at 1 khz, downsampled by 1 for 1000 Hz
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.Smpl_rate_div_dlp = 0,
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.interrupt_cfg = PIOS_MPU6000_INT_CLR_ANYRD,
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.interrupt_en = PIOS_MPU6000_INTEN_DATA_RDY,
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.User_ctl = PIOS_MPU6000_USERCTL_DIS_I2C,
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.Pwr_mgmt_clk = PIOS_MPU6000_PWRMGMT_PLL_X_CLK,
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.accel_range = PIOS_MPU6000_ACCEL_8G,
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.gyro_range = PIOS_MPU6000_SCALE_2000_DEG,
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.filter = PIOS_MPU6000_LOWPASS_256_HZ,
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.orientation = PIOS_MPU6000_TOP_180DEG,
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.fast_prescaler = PIOS_SPI_PRESCALER_4,
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.std_prescaler = PIOS_SPI_PRESCALER_64,
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.max_downsample = 2
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2015-07-10 00:42:05 +02:00
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};
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2017-04-19 15:57:34 +02:00
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#endif /* PIOS_INCLUDE_MPU6000 */
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2015-07-10 00:42:05 +02:00
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