2011-01-14 02:38:19 +01:00
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/**
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******************************************************************************
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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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*
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* @file pios_board.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief Defines board specific static initializers for hardware for the OpenPilot board.
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* @see The GNU Public License (GPL) Version 3
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*
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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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#include <pios.h>
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#include <openpilot.h>
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#include <uavobjectsinit.h>
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bootcfg: use UAVobj to control boot-time HW config
This should mark an end to the compile-time selection of HW
configurations.
Minor changes in board initialization for all platforms:
- Most config structs are marked static to prevent badly written
drivers from directly referring to config data.
- Adapt to changes in .irq fields in config data.
- Adapt to changes in USART IRQ handling.
Major changes in board initialization for CC:
- Use HwSettings UAVObj to decide which drivers to attach to
the "main" port and the flexi port, and select the appropriate
device configuration data.
- HwSettings allows choosing between Disabled, Telemetry, SBUS,
Spektrum,GPS, and I2C for each of the two ports.
- Use ManualControlSettings.InputMode to init/configure the
appropriate receiver module, and register its available rx channels
with the PIOS_RCVR layer. Can choose between PWM, Spektrum and PPM
at board init time. PPM driver is broken, and SBUS will work once
it is added to this UAVObj as an option.
- CC build now includes code for SBUS, Spektrum and PWM receivers in
every firmware image.
PIOS_USART driver:
- Now handles its own low-level IRQs internally
- If NULL upper-level IRQ handler is bound in at board init time
then rx/tx is satisfied by internal PIOS_USART buffered IO routines
which are (typically) attached to the COM layer.
- If an alternate upper-level IRQ handler is bound in at board init
then that handler is called and expected to clear down the USART
IRQ sources. This is used by Spektrum and SBUS drivers.
PIOS_SBUS and PIOS_SPEKTRUM drivers:
- Improved data/API hiding
- No longer assume they know where their config data is stored which
allows for boot-time alternate configurations for the driver.
- Now registers an upper-level IRQ handlerwith the USART layer to
decouple the driver from which USART it is actually attached to.
2011-07-06 02:21:00 +02:00
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#include <hwsettings.h>
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#include <manualcontrolsettings.h>
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2011-08-27 22:57:09 +02:00
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#include <gcsreceiver.h>
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2011-01-14 02:38:19 +01:00
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2011-02-12 23:19:50 +01:00
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#if defined(PIOS_INCLUDE_SPI)
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#include <pios_spi_priv.h>
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2011-01-16 03:45:34 +01:00
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/* Flash/Accel Interface
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2011-01-14 02:38:19 +01:00
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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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2011-02-12 23:19:50 +01:00
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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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bootcfg: use UAVobj to control boot-time HW config
This should mark an end to the compile-time selection of HW
configurations.
Minor changes in board initialization for all platforms:
- Most config structs are marked static to prevent badly written
drivers from directly referring to config data.
- Adapt to changes in .irq fields in config data.
- Adapt to changes in USART IRQ handling.
Major changes in board initialization for CC:
- Use HwSettings UAVObj to decide which drivers to attach to
the "main" port and the flexi port, and select the appropriate
device configuration data.
- HwSettings allows choosing between Disabled, Telemetry, SBUS,
Spektrum,GPS, and I2C for each of the two ports.
- Use ManualControlSettings.InputMode to init/configure the
appropriate receiver module, and register its available rx channels
with the PIOS_RCVR layer. Can choose between PWM, Spektrum and PPM
at board init time. PPM driver is broken, and SBUS will work once
it is added to this UAVObj as an option.
- CC build now includes code for SBUS, Spektrum and PWM receivers in
every firmware image.
PIOS_USART driver:
- Now handles its own low-level IRQs internally
- If NULL upper-level IRQ handler is bound in at board init time
then rx/tx is satisfied by internal PIOS_USART buffered IO routines
which are (typically) attached to the COM layer.
- If an alternate upper-level IRQ handler is bound in at board init
then that handler is called and expected to clear down the USART
IRQ sources. This is used by Spektrum and SBUS drivers.
PIOS_SBUS and PIOS_SPEKTRUM drivers:
- Improved data/API hiding
- No longer assume they know where their config data is stored which
allows for boot-time alternate configurations for the driver.
- Now registers an upper-level IRQ handlerwith the USART layer to
decouple the driver from which USART it is actually attached to.
2011-07-06 02:21:00 +02:00
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static const struct pios_spi_cfg pios_spi_flash_accel_cfg = {
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2011-01-14 02:38:19 +01:00
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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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2011-02-08 17:34:21 +01:00
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.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_2,
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2011-01-14 02:38:19 +01:00
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},
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2011-01-17 09:45:37 +01:00
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.use_crc = FALSE,
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2011-01-14 02:38:19 +01:00
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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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.ssel = {
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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_10MHz,
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.GPIO_Mode = GPIO_Mode_Out_PP,
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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_10MHz,
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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_10MHz,
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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_10MHz,
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.GPIO_Mode = GPIO_Mode_AF_PP,
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},
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},
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};
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2011-02-12 23:19:50 +01:00
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static uint32_t pios_spi_flash_accel_id;
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void PIOS_SPI_flash_accel_irq_handler(void)
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2011-01-14 02:38:19 +01:00
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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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2011-02-12 23:19:50 +01:00
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PIOS_SPI_IRQ_Handler(pios_spi_flash_accel_id);
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2011-01-14 02:38:19 +01:00
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}
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2011-02-12 23:19:50 +01:00
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#endif /* PIOS_INCLUDE_SPI */
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2011-01-16 03:45:39 +01:00
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/*
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* ADC system
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*/
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#include "pios_adc_priv.h"
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extern void PIOS_ADC_handler(void);
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void DMA1_Channel1_IRQHandler() __attribute__ ((alias("PIOS_ADC_handler")));
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// Remap the ADC DMA handler to this one
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bootcfg: use UAVobj to control boot-time HW config
This should mark an end to the compile-time selection of HW
configurations.
Minor changes in board initialization for all platforms:
- Most config structs are marked static to prevent badly written
drivers from directly referring to config data.
- Adapt to changes in .irq fields in config data.
- Adapt to changes in USART IRQ handling.
Major changes in board initialization for CC:
- Use HwSettings UAVObj to decide which drivers to attach to
the "main" port and the flexi port, and select the appropriate
device configuration data.
- HwSettings allows choosing between Disabled, Telemetry, SBUS,
Spektrum,GPS, and I2C for each of the two ports.
- Use ManualControlSettings.InputMode to init/configure the
appropriate receiver module, and register its available rx channels
with the PIOS_RCVR layer. Can choose between PWM, Spektrum and PPM
at board init time. PPM driver is broken, and SBUS will work once
it is added to this UAVObj as an option.
- CC build now includes code for SBUS, Spektrum and PWM receivers in
every firmware image.
PIOS_USART driver:
- Now handles its own low-level IRQs internally
- If NULL upper-level IRQ handler is bound in at board init time
then rx/tx is satisfied by internal PIOS_USART buffered IO routines
which are (typically) attached to the COM layer.
- If an alternate upper-level IRQ handler is bound in at board init
then that handler is called and expected to clear down the USART
IRQ sources. This is used by Spektrum and SBUS drivers.
PIOS_SBUS and PIOS_SPEKTRUM drivers:
- Improved data/API hiding
- No longer assume they know where their config data is stored which
allows for boot-time alternate configurations for the driver.
- Now registers an upper-level IRQ handlerwith the USART layer to
decouple the driver from which USART it is actually attached to.
2011-07-06 02:21:00 +02:00
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static const struct pios_adc_cfg pios_adc_cfg = {
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2011-01-16 03:45:39 +01:00
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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_TC1 | DMA1_FLAG_TE1 | DMA1_FLAG_HT1 | DMA1_FLAG_GL1),
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.init = {
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.NVIC_IRQChannel = DMA1_Channel1_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_Channel1,
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.init = {
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.DMA_PeripheralBaseAddr = (uint32_t) & ADC1->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_Word,
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.DMA_MemoryDataSize = DMA_MemoryDataSize_Word,
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.DMA_Mode = DMA_Mode_Circular,
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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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.half_flag = DMA1_IT_HT1,
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.full_flag = DMA1_IT_TC1,
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};
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struct pios_adc_dev pios_adc_devs[] = {
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{
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.cfg = &pios_adc_cfg,
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.callback_function = NULL,
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},
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};
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uint8_t pios_adc_num_devices = NELEMENTS(pios_adc_devs);
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void PIOS_ADC_handler() {
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PIOS_ADC_DMA_Handler();
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}
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2011-08-13 05:23:16 +02:00
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#include "pios_tim_priv.h"
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static const TIM_TimeBaseInitTypeDef tim_1_2_3_4_time_base = {
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.TIM_Prescaler = (PIOS_MASTER_CLOCK / 1000000) - 1,
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.TIM_ClockDivision = TIM_CKD_DIV1,
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.TIM_CounterMode = TIM_CounterMode_Up,
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.TIM_Period = ((1000000 / PIOS_SERVO_UPDATE_HZ) - 1),
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.TIM_RepetitionCounter = 0x0000,
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};
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static const struct pios_tim_clock_cfg tim_1_cfg = {
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.timer = TIM1,
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.time_base_init = &tim_1_2_3_4_time_base,
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.irq = {
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.init = {
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.NVIC_IRQChannel = TIM1_CC_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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};
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static const struct pios_tim_clock_cfg tim_2_cfg = {
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.timer = TIM2,
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.time_base_init = &tim_1_2_3_4_time_base,
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.irq = {
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.init = {
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.NVIC_IRQChannel = TIM2_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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};
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static const struct pios_tim_clock_cfg tim_3_cfg = {
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.timer = TIM3,
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.time_base_init = &tim_1_2_3_4_time_base,
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.irq = {
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.init = {
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.NVIC_IRQChannel = TIM3_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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};
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static const struct pios_tim_clock_cfg tim_4_cfg = {
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.timer = TIM4,
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.time_base_init = &tim_1_2_3_4_time_base,
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.irq = {
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.init = {
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.NVIC_IRQChannel = TIM4_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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};
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static const struct pios_tim_channel pios_tim_rcvrport_all_channels[] = {
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{
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.timer = TIM4,
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.timer_chan = TIM_Channel_1,
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.pin = {
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.gpio = GPIOB,
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.init = {
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.GPIO_Pin = GPIO_Pin_6,
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.GPIO_Mode = GPIO_Mode_IPD,
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.GPIO_Speed = GPIO_Speed_2MHz,
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},
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},
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},
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|
|
{
|
|
|
|
.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,
|
|
|
|
},
|
|
|
|
{
|
|
|
|
.timer = TIM3,
|
|
|
|
.timer_chan = TIM_Channel_3,
|
|
|
|
.pin = {
|
|
|
|
.gpio = GPIOB,
|
|
|
|
.init = {
|
|
|
|
.GPIO_Pin = GPIO_Pin_0,
|
|
|
|
.GPIO_Mode = GPIO_Mode_IPD,
|
|
|
|
.GPIO_Speed = GPIO_Speed_2MHz,
|
|
|
|
},
|
|
|
|
},
|
|
|
|
},
|
|
|
|
{
|
|
|
|
.timer = TIM3,
|
|
|
|
.timer_chan = TIM_Channel_4,
|
|
|
|
.pin = {
|
|
|
|
.gpio = GPIOB,
|
|
|
|
.init = {
|
|
|
|
.GPIO_Pin = GPIO_Pin_1,
|
|
|
|
.GPIO_Mode = GPIO_Mode_IPD,
|
|
|
|
.GPIO_Speed = GPIO_Speed_2MHz,
|
|
|
|
},
|
|
|
|
},
|
|
|
|
},
|
|
|
|
{
|
|
|
|
.timer = TIM2,
|
|
|
|
.timer_chan = TIM_Channel_1,
|
|
|
|
.pin = {
|
|
|
|
.gpio = GPIOA,
|
|
|
|
.init = {
|
|
|
|
.GPIO_Pin = GPIO_Pin_0,
|
|
|
|
.GPIO_Mode = GPIO_Mode_IPD,
|
|
|
|
.GPIO_Speed = GPIO_Speed_2MHz,
|
|
|
|
},
|
|
|
|
},
|
|
|
|
},
|
|
|
|
{
|
|
|
|
.timer = TIM2,
|
|
|
|
.timer_chan = TIM_Channel_2,
|
|
|
|
.pin = {
|
|
|
|
.gpio = GPIOA,
|
|
|
|
.init = {
|
|
|
|
.GPIO_Pin = GPIO_Pin_1,
|
|
|
|
.GPIO_Mode = GPIO_Mode_IPD,
|
|
|
|
.GPIO_Speed = GPIO_Speed_2MHz,
|
|
|
|
},
|
|
|
|
},
|
|
|
|
},
|
|
|
|
};
|
|
|
|
|
|
|
|
static const struct pios_tim_channel pios_tim_servoport_all_pins[] = {
|
|
|
|
{
|
|
|
|
.timer = TIM4,
|
|
|
|
.timer_chan = TIM_Channel_4,
|
|
|
|
.pin = {
|
|
|
|
.gpio = GPIOB,
|
|
|
|
.init = {
|
|
|
|
.GPIO_Pin = GPIO_Pin_9,
|
|
|
|
.GPIO_Mode = GPIO_Mode_AF_PP,
|
|
|
|
.GPIO_Speed = GPIO_Speed_2MHz,
|
|
|
|
},
|
|
|
|
},
|
|
|
|
},
|
|
|
|
{
|
|
|
|
.timer = TIM4,
|
|
|
|
.timer_chan = TIM_Channel_3,
|
|
|
|
.pin = {
|
|
|
|
.gpio = GPIOB,
|
|
|
|
.init = {
|
|
|
|
.GPIO_Pin = GPIO_Pin_8,
|
|
|
|
.GPIO_Mode = GPIO_Mode_AF_PP,
|
|
|
|
.GPIO_Speed = GPIO_Speed_2MHz,
|
|
|
|
},
|
|
|
|
},
|
|
|
|
},
|
|
|
|
{
|
|
|
|
.timer = TIM4,
|
|
|
|
.timer_chan = TIM_Channel_2,
|
|
|
|
.pin = {
|
|
|
|
.gpio = GPIOB,
|
|
|
|
.init = {
|
|
|
|
.GPIO_Pin = GPIO_Pin_7,
|
|
|
|
.GPIO_Mode = GPIO_Mode_AF_PP,
|
|
|
|
.GPIO_Speed = GPIO_Speed_2MHz,
|
|
|
|
},
|
|
|
|
},
|
|
|
|
},
|
|
|
|
{
|
|
|
|
.timer = TIM1,
|
|
|
|
.timer_chan = TIM_Channel_1,
|
|
|
|
.pin = {
|
|
|
|
.gpio = GPIOA,
|
|
|
|
.init = {
|
|
|
|
.GPIO_Pin = GPIO_Pin_8,
|
|
|
|
.GPIO_Mode = GPIO_Mode_AF_PP,
|
|
|
|
.GPIO_Speed = GPIO_Speed_2MHz,
|
|
|
|
},
|
|
|
|
},
|
|
|
|
},
|
|
|
|
{
|
|
|
|
.timer = TIM3,
|
|
|
|
.timer_chan = TIM_Channel_1,
|
|
|
|
.pin = {
|
|
|
|
.gpio = GPIOB,
|
|
|
|
.init = {
|
|
|
|
.GPIO_Pin = GPIO_Pin_4,
|
|
|
|
.GPIO_Mode = GPIO_Mode_AF_PP,
|
|
|
|
.GPIO_Speed = GPIO_Speed_2MHz,
|
|
|
|
},
|
|
|
|
},
|
|
|
|
.remap = GPIO_PartialRemap_TIM3,
|
|
|
|
},
|
|
|
|
{
|
|
|
|
.timer = TIM2,
|
|
|
|
.timer_chan = TIM_Channel_3,
|
|
|
|
.pin = {
|
|
|
|
.gpio = GPIOA,
|
|
|
|
.init = {
|
|
|
|
.GPIO_Pin = GPIO_Pin_2,
|
|
|
|
.GPIO_Mode = GPIO_Mode_AF_PP,
|
|
|
|
.GPIO_Speed = GPIO_Speed_2MHz,
|
|
|
|
},
|
|
|
|
},
|
|
|
|
},
|
|
|
|
};
|
|
|
|
|
2011-02-12 23:19:43 +01:00
|
|
|
#if defined(PIOS_INCLUDE_USART)
|
|
|
|
|
|
|
|
#include "pios_usart_priv.h"
|
2011-01-16 03:45:39 +01:00
|
|
|
|
2011-06-16 14:06:01 +02:00
|
|
|
#if defined(PIOS_INCLUDE_TELEMETRY_RF)
|
2011-01-14 02:38:19 +01:00
|
|
|
/*
|
|
|
|
* Telemetry USART
|
|
|
|
*/
|
bootcfg: use UAVobj to control boot-time HW config
This should mark an end to the compile-time selection of HW
configurations.
Minor changes in board initialization for all platforms:
- Most config structs are marked static to prevent badly written
drivers from directly referring to config data.
- Adapt to changes in .irq fields in config data.
- Adapt to changes in USART IRQ handling.
Major changes in board initialization for CC:
- Use HwSettings UAVObj to decide which drivers to attach to
the "main" port and the flexi port, and select the appropriate
device configuration data.
- HwSettings allows choosing between Disabled, Telemetry, SBUS,
Spektrum,GPS, and I2C for each of the two ports.
- Use ManualControlSettings.InputMode to init/configure the
appropriate receiver module, and register its available rx channels
with the PIOS_RCVR layer. Can choose between PWM, Spektrum and PPM
at board init time. PPM driver is broken, and SBUS will work once
it is added to this UAVObj as an option.
- CC build now includes code for SBUS, Spektrum and PWM receivers in
every firmware image.
PIOS_USART driver:
- Now handles its own low-level IRQs internally
- If NULL upper-level IRQ handler is bound in at board init time
then rx/tx is satisfied by internal PIOS_USART buffered IO routines
which are (typically) attached to the COM layer.
- If an alternate upper-level IRQ handler is bound in at board init
then that handler is called and expected to clear down the USART
IRQ sources. This is used by Spektrum and SBUS drivers.
PIOS_SBUS and PIOS_SPEKTRUM drivers:
- Improved data/API hiding
- No longer assume they know where their config data is stored which
allows for boot-time alternate configurations for the driver.
- Now registers an upper-level IRQ handlerwith the USART layer to
decouple the driver from which USART it is actually attached to.
2011-07-06 02:21:00 +02:00
|
|
|
static const struct pios_usart_cfg pios_usart_telem_main_cfg = {
|
|
|
|
.regs = USART1,
|
2011-01-14 02:38:19 +01:00
|
|
|
.init = {
|
2011-07-07 05:03:54 +02:00
|
|
|
.USART_BaudRate = 57600,
|
2011-01-14 02:38:19 +01:00
|
|
|
.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 = {
|
bootcfg: use UAVobj to control boot-time HW config
This should mark an end to the compile-time selection of HW
configurations.
Minor changes in board initialization for all platforms:
- Most config structs are marked static to prevent badly written
drivers from directly referring to config data.
- Adapt to changes in .irq fields in config data.
- Adapt to changes in USART IRQ handling.
Major changes in board initialization for CC:
- Use HwSettings UAVObj to decide which drivers to attach to
the "main" port and the flexi port, and select the appropriate
device configuration data.
- HwSettings allows choosing between Disabled, Telemetry, SBUS,
Spektrum,GPS, and I2C for each of the two ports.
- Use ManualControlSettings.InputMode to init/configure the
appropriate receiver module, and register its available rx channels
with the PIOS_RCVR layer. Can choose between PWM, Spektrum and PPM
at board init time. PPM driver is broken, and SBUS will work once
it is added to this UAVObj as an option.
- CC build now includes code for SBUS, Spektrum and PWM receivers in
every firmware image.
PIOS_USART driver:
- Now handles its own low-level IRQs internally
- If NULL upper-level IRQ handler is bound in at board init time
then rx/tx is satisfied by internal PIOS_USART buffered IO routines
which are (typically) attached to the COM layer.
- If an alternate upper-level IRQ handler is bound in at board init
then that handler is called and expected to clear down the USART
IRQ sources. This is used by Spektrum and SBUS drivers.
PIOS_SBUS and PIOS_SPEKTRUM drivers:
- Improved data/API hiding
- No longer assume they know where their config data is stored which
allows for boot-time alternate configurations for the driver.
- Now registers an upper-level IRQ handlerwith the USART layer to
decouple the driver from which USART it is actually attached to.
2011-07-06 02:21:00 +02:00
|
|
|
.NVIC_IRQChannel = USART1_IRQn,
|
2011-01-14 02:38:19 +01:00
|
|
|
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
|
|
|
|
.NVIC_IRQChannelSubPriority = 0,
|
|
|
|
.NVIC_IRQChannelCmd = ENABLE,
|
|
|
|
},
|
|
|
|
},
|
|
|
|
.rx = {
|
bootcfg: use UAVobj to control boot-time HW config
This should mark an end to the compile-time selection of HW
configurations.
Minor changes in board initialization for all platforms:
- Most config structs are marked static to prevent badly written
drivers from directly referring to config data.
- Adapt to changes in .irq fields in config data.
- Adapt to changes in USART IRQ handling.
Major changes in board initialization for CC:
- Use HwSettings UAVObj to decide which drivers to attach to
the "main" port and the flexi port, and select the appropriate
device configuration data.
- HwSettings allows choosing between Disabled, Telemetry, SBUS,
Spektrum,GPS, and I2C for each of the two ports.
- Use ManualControlSettings.InputMode to init/configure the
appropriate receiver module, and register its available rx channels
with the PIOS_RCVR layer. Can choose between PWM, Spektrum and PPM
at board init time. PPM driver is broken, and SBUS will work once
it is added to this UAVObj as an option.
- CC build now includes code for SBUS, Spektrum and PWM receivers in
every firmware image.
PIOS_USART driver:
- Now handles its own low-level IRQs internally
- If NULL upper-level IRQ handler is bound in at board init time
then rx/tx is satisfied by internal PIOS_USART buffered IO routines
which are (typically) attached to the COM layer.
- If an alternate upper-level IRQ handler is bound in at board init
then that handler is called and expected to clear down the USART
IRQ sources. This is used by Spektrum and SBUS drivers.
PIOS_SBUS and PIOS_SPEKTRUM drivers:
- Improved data/API hiding
- No longer assume they know where their config data is stored which
allows for boot-time alternate configurations for the driver.
- Now registers an upper-level IRQ handlerwith the USART layer to
decouple the driver from which USART it is actually attached to.
2011-07-06 02:21:00 +02:00
|
|
|
.gpio = GPIOA,
|
2011-01-14 02:38:19 +01:00
|
|
|
.init = {
|
bootcfg: use UAVobj to control boot-time HW config
This should mark an end to the compile-time selection of HW
configurations.
Minor changes in board initialization for all platforms:
- Most config structs are marked static to prevent badly written
drivers from directly referring to config data.
- Adapt to changes in .irq fields in config data.
- Adapt to changes in USART IRQ handling.
Major changes in board initialization for CC:
- Use HwSettings UAVObj to decide which drivers to attach to
the "main" port and the flexi port, and select the appropriate
device configuration data.
- HwSettings allows choosing between Disabled, Telemetry, SBUS,
Spektrum,GPS, and I2C for each of the two ports.
- Use ManualControlSettings.InputMode to init/configure the
appropriate receiver module, and register its available rx channels
with the PIOS_RCVR layer. Can choose between PWM, Spektrum and PPM
at board init time. PPM driver is broken, and SBUS will work once
it is added to this UAVObj as an option.
- CC build now includes code for SBUS, Spektrum and PWM receivers in
every firmware image.
PIOS_USART driver:
- Now handles its own low-level IRQs internally
- If NULL upper-level IRQ handler is bound in at board init time
then rx/tx is satisfied by internal PIOS_USART buffered IO routines
which are (typically) attached to the COM layer.
- If an alternate upper-level IRQ handler is bound in at board init
then that handler is called and expected to clear down the USART
IRQ sources. This is used by Spektrum and SBUS drivers.
PIOS_SBUS and PIOS_SPEKTRUM drivers:
- Improved data/API hiding
- No longer assume they know where their config data is stored which
allows for boot-time alternate configurations for the driver.
- Now registers an upper-level IRQ handlerwith the USART layer to
decouple the driver from which USART it is actually attached to.
2011-07-06 02:21:00 +02:00
|
|
|
.GPIO_Pin = GPIO_Pin_10,
|
2011-01-14 02:38:19 +01:00
|
|
|
.GPIO_Speed = GPIO_Speed_2MHz,
|
|
|
|
.GPIO_Mode = GPIO_Mode_IPU,
|
|
|
|
},
|
|
|
|
},
|
|
|
|
.tx = {
|
bootcfg: use UAVobj to control boot-time HW config
This should mark an end to the compile-time selection of HW
configurations.
Minor changes in board initialization for all platforms:
- Most config structs are marked static to prevent badly written
drivers from directly referring to config data.
- Adapt to changes in .irq fields in config data.
- Adapt to changes in USART IRQ handling.
Major changes in board initialization for CC:
- Use HwSettings UAVObj to decide which drivers to attach to
the "main" port and the flexi port, and select the appropriate
device configuration data.
- HwSettings allows choosing between Disabled, Telemetry, SBUS,
Spektrum,GPS, and I2C for each of the two ports.
- Use ManualControlSettings.InputMode to init/configure the
appropriate receiver module, and register its available rx channels
with the PIOS_RCVR layer. Can choose between PWM, Spektrum and PPM
at board init time. PPM driver is broken, and SBUS will work once
it is added to this UAVObj as an option.
- CC build now includes code for SBUS, Spektrum and PWM receivers in
every firmware image.
PIOS_USART driver:
- Now handles its own low-level IRQs internally
- If NULL upper-level IRQ handler is bound in at board init time
then rx/tx is satisfied by internal PIOS_USART buffered IO routines
which are (typically) attached to the COM layer.
- If an alternate upper-level IRQ handler is bound in at board init
then that handler is called and expected to clear down the USART
IRQ sources. This is used by Spektrum and SBUS drivers.
PIOS_SBUS and PIOS_SPEKTRUM drivers:
- Improved data/API hiding
- No longer assume they know where their config data is stored which
allows for boot-time alternate configurations for the driver.
- Now registers an upper-level IRQ handlerwith the USART layer to
decouple the driver from which USART it is actually attached to.
2011-07-06 02:21:00 +02:00
|
|
|
.gpio = GPIOA,
|
2011-01-14 02:38:19 +01:00
|
|
|
.init = {
|
bootcfg: use UAVobj to control boot-time HW config
This should mark an end to the compile-time selection of HW
configurations.
Minor changes in board initialization for all platforms:
- Most config structs are marked static to prevent badly written
drivers from directly referring to config data.
- Adapt to changes in .irq fields in config data.
- Adapt to changes in USART IRQ handling.
Major changes in board initialization for CC:
- Use HwSettings UAVObj to decide which drivers to attach to
the "main" port and the flexi port, and select the appropriate
device configuration data.
- HwSettings allows choosing between Disabled, Telemetry, SBUS,
Spektrum,GPS, and I2C for each of the two ports.
- Use ManualControlSettings.InputMode to init/configure the
appropriate receiver module, and register its available rx channels
with the PIOS_RCVR layer. Can choose between PWM, Spektrum and PPM
at board init time. PPM driver is broken, and SBUS will work once
it is added to this UAVObj as an option.
- CC build now includes code for SBUS, Spektrum and PWM receivers in
every firmware image.
PIOS_USART driver:
- Now handles its own low-level IRQs internally
- If NULL upper-level IRQ handler is bound in at board init time
then rx/tx is satisfied by internal PIOS_USART buffered IO routines
which are (typically) attached to the COM layer.
- If an alternate upper-level IRQ handler is bound in at board init
then that handler is called and expected to clear down the USART
IRQ sources. This is used by Spektrum and SBUS drivers.
PIOS_SBUS and PIOS_SPEKTRUM drivers:
- Improved data/API hiding
- No longer assume they know where their config data is stored which
allows for boot-time alternate configurations for the driver.
- Now registers an upper-level IRQ handlerwith the USART layer to
decouple the driver from which USART it is actually attached to.
2011-07-06 02:21:00 +02:00
|
|
|
.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 = {
|
2011-07-07 05:03:54 +02:00
|
|
|
.USART_BaudRate = 57600,
|
bootcfg: use UAVobj to control boot-time HW config
This should mark an end to the compile-time selection of HW
configurations.
Minor changes in board initialization for all platforms:
- Most config structs are marked static to prevent badly written
drivers from directly referring to config data.
- Adapt to changes in .irq fields in config data.
- Adapt to changes in USART IRQ handling.
Major changes in board initialization for CC:
- Use HwSettings UAVObj to decide which drivers to attach to
the "main" port and the flexi port, and select the appropriate
device configuration data.
- HwSettings allows choosing between Disabled, Telemetry, SBUS,
Spektrum,GPS, and I2C for each of the two ports.
- Use ManualControlSettings.InputMode to init/configure the
appropriate receiver module, and register its available rx channels
with the PIOS_RCVR layer. Can choose between PWM, Spektrum and PPM
at board init time. PPM driver is broken, and SBUS will work once
it is added to this UAVObj as an option.
- CC build now includes code for SBUS, Spektrum and PWM receivers in
every firmware image.
PIOS_USART driver:
- Now handles its own low-level IRQs internally
- If NULL upper-level IRQ handler is bound in at board init time
then rx/tx is satisfied by internal PIOS_USART buffered IO routines
which are (typically) attached to the COM layer.
- If an alternate upper-level IRQ handler is bound in at board init
then that handler is called and expected to clear down the USART
IRQ sources. This is used by Spektrum and SBUS drivers.
PIOS_SBUS and PIOS_SPEKTRUM drivers:
- Improved data/API hiding
- No longer assume they know where their config data is stored which
allows for boot-time alternate configurations for the driver.
- Now registers an upper-level IRQ handlerwith the USART layer to
decouple the driver from which USART it is actually attached to.
2011-07-06 02:21:00 +02:00
|
|
|
.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,
|
2011-01-14 02:38:19 +01:00
|
|
|
.GPIO_Speed = GPIO_Speed_2MHz,
|
|
|
|
.GPIO_Mode = GPIO_Mode_AF_PP,
|
|
|
|
},
|
|
|
|
},
|
|
|
|
};
|
2011-06-16 14:06:01 +02:00
|
|
|
#endif /* PIOS_INCLUDE_TELEMETRY_RF */
|
2011-01-14 02:38:19 +01:00
|
|
|
|
2011-02-12 23:19:43 +01:00
|
|
|
#if defined(PIOS_INCLUDE_GPS)
|
2011-01-14 02:38:19 +01:00
|
|
|
/*
|
|
|
|
* GPS USART
|
|
|
|
*/
|
bootcfg: use UAVobj to control boot-time HW config
This should mark an end to the compile-time selection of HW
configurations.
Minor changes in board initialization for all platforms:
- Most config structs are marked static to prevent badly written
drivers from directly referring to config data.
- Adapt to changes in .irq fields in config data.
- Adapt to changes in USART IRQ handling.
Major changes in board initialization for CC:
- Use HwSettings UAVObj to decide which drivers to attach to
the "main" port and the flexi port, and select the appropriate
device configuration data.
- HwSettings allows choosing between Disabled, Telemetry, SBUS,
Spektrum,GPS, and I2C for each of the two ports.
- Use ManualControlSettings.InputMode to init/configure the
appropriate receiver module, and register its available rx channels
with the PIOS_RCVR layer. Can choose between PWM, Spektrum and PPM
at board init time. PPM driver is broken, and SBUS will work once
it is added to this UAVObj as an option.
- CC build now includes code for SBUS, Spektrum and PWM receivers in
every firmware image.
PIOS_USART driver:
- Now handles its own low-level IRQs internally
- If NULL upper-level IRQ handler is bound in at board init time
then rx/tx is satisfied by internal PIOS_USART buffered IO routines
which are (typically) attached to the COM layer.
- If an alternate upper-level IRQ handler is bound in at board init
then that handler is called and expected to clear down the USART
IRQ sources. This is used by Spektrum and SBUS drivers.
PIOS_SBUS and PIOS_SPEKTRUM drivers:
- Improved data/API hiding
- No longer assume they know where their config data is stored which
allows for boot-time alternate configurations for the driver.
- Now registers an upper-level IRQ handlerwith the USART layer to
decouple the driver from which USART it is actually attached to.
2011-07-06 02:21:00 +02:00
|
|
|
static const struct pios_usart_cfg pios_usart_gps_main_cfg = {
|
|
|
|
.regs = USART1,
|
2011-01-14 02:38:19 +01:00
|
|
|
.init = {
|
2011-07-07 05:03:54 +02:00
|
|
|
.USART_BaudRate = 57600,
|
2011-01-14 02:38:19 +01:00
|
|
|
.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 = {
|
bootcfg: use UAVobj to control boot-time HW config
This should mark an end to the compile-time selection of HW
configurations.
Minor changes in board initialization for all platforms:
- Most config structs are marked static to prevent badly written
drivers from directly referring to config data.
- Adapt to changes in .irq fields in config data.
- Adapt to changes in USART IRQ handling.
Major changes in board initialization for CC:
- Use HwSettings UAVObj to decide which drivers to attach to
the "main" port and the flexi port, and select the appropriate
device configuration data.
- HwSettings allows choosing between Disabled, Telemetry, SBUS,
Spektrum,GPS, and I2C for each of the two ports.
- Use ManualControlSettings.InputMode to init/configure the
appropriate receiver module, and register its available rx channels
with the PIOS_RCVR layer. Can choose between PWM, Spektrum and PPM
at board init time. PPM driver is broken, and SBUS will work once
it is added to this UAVObj as an option.
- CC build now includes code for SBUS, Spektrum and PWM receivers in
every firmware image.
PIOS_USART driver:
- Now handles its own low-level IRQs internally
- If NULL upper-level IRQ handler is bound in at board init time
then rx/tx is satisfied by internal PIOS_USART buffered IO routines
which are (typically) attached to the COM layer.
- If an alternate upper-level IRQ handler is bound in at board init
then that handler is called and expected to clear down the USART
IRQ sources. This is used by Spektrum and SBUS drivers.
PIOS_SBUS and PIOS_SPEKTRUM drivers:
- Improved data/API hiding
- No longer assume they know where their config data is stored which
allows for boot-time alternate configurations for the driver.
- Now registers an upper-level IRQ handlerwith the USART layer to
decouple the driver from which USART it is actually attached to.
2011-07-06 02:21:00 +02:00
|
|
|
.NVIC_IRQChannel = USART1_IRQn,
|
2011-01-14 02:38:19 +01:00
|
|
|
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
|
|
|
|
.NVIC_IRQChannelSubPriority = 0,
|
|
|
|
.NVIC_IRQChannelCmd = ENABLE,
|
|
|
|
},
|
|
|
|
},
|
|
|
|
.rx = {
|
bootcfg: use UAVobj to control boot-time HW config
This should mark an end to the compile-time selection of HW
configurations.
Minor changes in board initialization for all platforms:
- Most config structs are marked static to prevent badly written
drivers from directly referring to config data.
- Adapt to changes in .irq fields in config data.
- Adapt to changes in USART IRQ handling.
Major changes in board initialization for CC:
- Use HwSettings UAVObj to decide which drivers to attach to
the "main" port and the flexi port, and select the appropriate
device configuration data.
- HwSettings allows choosing between Disabled, Telemetry, SBUS,
Spektrum,GPS, and I2C for each of the two ports.
- Use ManualControlSettings.InputMode to init/configure the
appropriate receiver module, and register its available rx channels
with the PIOS_RCVR layer. Can choose between PWM, Spektrum and PPM
at board init time. PPM driver is broken, and SBUS will work once
it is added to this UAVObj as an option.
- CC build now includes code for SBUS, Spektrum and PWM receivers in
every firmware image.
PIOS_USART driver:
- Now handles its own low-level IRQs internally
- If NULL upper-level IRQ handler is bound in at board init time
then rx/tx is satisfied by internal PIOS_USART buffered IO routines
which are (typically) attached to the COM layer.
- If an alternate upper-level IRQ handler is bound in at board init
then that handler is called and expected to clear down the USART
IRQ sources. This is used by Spektrum and SBUS drivers.
PIOS_SBUS and PIOS_SPEKTRUM drivers:
- Improved data/API hiding
- No longer assume they know where their config data is stored which
allows for boot-time alternate configurations for the driver.
- Now registers an upper-level IRQ handlerwith the USART layer to
decouple the driver from which USART it is actually attached to.
2011-07-06 02:21:00 +02:00
|
|
|
.gpio = GPIOA,
|
2011-01-14 02:38:19 +01:00
|
|
|
.init = {
|
bootcfg: use UAVobj to control boot-time HW config
This should mark an end to the compile-time selection of HW
configurations.
Minor changes in board initialization for all platforms:
- Most config structs are marked static to prevent badly written
drivers from directly referring to config data.
- Adapt to changes in .irq fields in config data.
- Adapt to changes in USART IRQ handling.
Major changes in board initialization for CC:
- Use HwSettings UAVObj to decide which drivers to attach to
the "main" port and the flexi port, and select the appropriate
device configuration data.
- HwSettings allows choosing between Disabled, Telemetry, SBUS,
Spektrum,GPS, and I2C for each of the two ports.
- Use ManualControlSettings.InputMode to init/configure the
appropriate receiver module, and register its available rx channels
with the PIOS_RCVR layer. Can choose between PWM, Spektrum and PPM
at board init time. PPM driver is broken, and SBUS will work once
it is added to this UAVObj as an option.
- CC build now includes code for SBUS, Spektrum and PWM receivers in
every firmware image.
PIOS_USART driver:
- Now handles its own low-level IRQs internally
- If NULL upper-level IRQ handler is bound in at board init time
then rx/tx is satisfied by internal PIOS_USART buffered IO routines
which are (typically) attached to the COM layer.
- If an alternate upper-level IRQ handler is bound in at board init
then that handler is called and expected to clear down the USART
IRQ sources. This is used by Spektrum and SBUS drivers.
PIOS_SBUS and PIOS_SPEKTRUM drivers:
- Improved data/API hiding
- No longer assume they know where their config data is stored which
allows for boot-time alternate configurations for the driver.
- Now registers an upper-level IRQ handlerwith the USART layer to
decouple the driver from which USART it is actually attached to.
2011-07-06 02:21:00 +02:00
|
|
|
.GPIO_Pin = GPIO_Pin_10,
|
2011-01-14 02:38:19 +01:00
|
|
|
.GPIO_Speed = GPIO_Speed_2MHz,
|
|
|
|
.GPIO_Mode = GPIO_Mode_IPU,
|
|
|
|
},
|
|
|
|
},
|
|
|
|
.tx = {
|
bootcfg: use UAVobj to control boot-time HW config
This should mark an end to the compile-time selection of HW
configurations.
Minor changes in board initialization for all platforms:
- Most config structs are marked static to prevent badly written
drivers from directly referring to config data.
- Adapt to changes in .irq fields in config data.
- Adapt to changes in USART IRQ handling.
Major changes in board initialization for CC:
- Use HwSettings UAVObj to decide which drivers to attach to
the "main" port and the flexi port, and select the appropriate
device configuration data.
- HwSettings allows choosing between Disabled, Telemetry, SBUS,
Spektrum,GPS, and I2C for each of the two ports.
- Use ManualControlSettings.InputMode to init/configure the
appropriate receiver module, and register its available rx channels
with the PIOS_RCVR layer. Can choose between PWM, Spektrum and PPM
at board init time. PPM driver is broken, and SBUS will work once
it is added to this UAVObj as an option.
- CC build now includes code for SBUS, Spektrum and PWM receivers in
every firmware image.
PIOS_USART driver:
- Now handles its own low-level IRQs internally
- If NULL upper-level IRQ handler is bound in at board init time
then rx/tx is satisfied by internal PIOS_USART buffered IO routines
which are (typically) attached to the COM layer.
- If an alternate upper-level IRQ handler is bound in at board init
then that handler is called and expected to clear down the USART
IRQ sources. This is used by Spektrum and SBUS drivers.
PIOS_SBUS and PIOS_SPEKTRUM drivers:
- Improved data/API hiding
- No longer assume they know where their config data is stored which
allows for boot-time alternate configurations for the driver.
- Now registers an upper-level IRQ handlerwith the USART layer to
decouple the driver from which USART it is actually attached to.
2011-07-06 02:21:00 +02:00
|
|
|
.gpio = GPIOA,
|
2011-01-14 02:38:19 +01:00
|
|
|
.init = {
|
bootcfg: use UAVobj to control boot-time HW config
This should mark an end to the compile-time selection of HW
configurations.
Minor changes in board initialization for all platforms:
- Most config structs are marked static to prevent badly written
drivers from directly referring to config data.
- Adapt to changes in .irq fields in config data.
- Adapt to changes in USART IRQ handling.
Major changes in board initialization for CC:
- Use HwSettings UAVObj to decide which drivers to attach to
the "main" port and the flexi port, and select the appropriate
device configuration data.
- HwSettings allows choosing between Disabled, Telemetry, SBUS,
Spektrum,GPS, and I2C for each of the two ports.
- Use ManualControlSettings.InputMode to init/configure the
appropriate receiver module, and register its available rx channels
with the PIOS_RCVR layer. Can choose between PWM, Spektrum and PPM
at board init time. PPM driver is broken, and SBUS will work once
it is added to this UAVObj as an option.
- CC build now includes code for SBUS, Spektrum and PWM receivers in
every firmware image.
PIOS_USART driver:
- Now handles its own low-level IRQs internally
- If NULL upper-level IRQ handler is bound in at board init time
then rx/tx is satisfied by internal PIOS_USART buffered IO routines
which are (typically) attached to the COM layer.
- If an alternate upper-level IRQ handler is bound in at board init
then that handler is called and expected to clear down the USART
IRQ sources. This is used by Spektrum and SBUS drivers.
PIOS_SBUS and PIOS_SPEKTRUM drivers:
- Improved data/API hiding
- No longer assume they know where their config data is stored which
allows for boot-time alternate configurations for the driver.
- Now registers an upper-level IRQ handlerwith the USART layer to
decouple the driver from which USART it is actually attached to.
2011-07-06 02:21:00 +02:00
|
|
|
.GPIO_Pin = GPIO_Pin_9,
|
2011-01-14 02:38:19 +01:00
|
|
|
.GPIO_Speed = GPIO_Speed_2MHz,
|
|
|
|
.GPIO_Mode = GPIO_Mode_AF_PP,
|
|
|
|
},
|
|
|
|
},
|
|
|
|
};
|
|
|
|
|
bootcfg: use UAVobj to control boot-time HW config
This should mark an end to the compile-time selection of HW
configurations.
Minor changes in board initialization for all platforms:
- Most config structs are marked static to prevent badly written
drivers from directly referring to config data.
- Adapt to changes in .irq fields in config data.
- Adapt to changes in USART IRQ handling.
Major changes in board initialization for CC:
- Use HwSettings UAVObj to decide which drivers to attach to
the "main" port and the flexi port, and select the appropriate
device configuration data.
- HwSettings allows choosing between Disabled, Telemetry, SBUS,
Spektrum,GPS, and I2C for each of the two ports.
- Use ManualControlSettings.InputMode to init/configure the
appropriate receiver module, and register its available rx channels
with the PIOS_RCVR layer. Can choose between PWM, Spektrum and PPM
at board init time. PPM driver is broken, and SBUS will work once
it is added to this UAVObj as an option.
- CC build now includes code for SBUS, Spektrum and PWM receivers in
every firmware image.
PIOS_USART driver:
- Now handles its own low-level IRQs internally
- If NULL upper-level IRQ handler is bound in at board init time
then rx/tx is satisfied by internal PIOS_USART buffered IO routines
which are (typically) attached to the COM layer.
- If an alternate upper-level IRQ handler is bound in at board init
then that handler is called and expected to clear down the USART
IRQ sources. This is used by Spektrum and SBUS drivers.
PIOS_SBUS and PIOS_SPEKTRUM drivers:
- Improved data/API hiding
- No longer assume they know where their config data is stored which
allows for boot-time alternate configurations for the driver.
- Now registers an upper-level IRQ handlerwith the USART layer to
decouple the driver from which USART it is actually attached to.
2011-07-06 02:21:00 +02:00
|
|
|
static const struct pios_usart_cfg pios_usart_gps_flexi_cfg = {
|
|
|
|
.regs = USART3,
|
|
|
|
.init = {
|
2011-07-07 05:03:54 +02:00
|
|
|
.USART_BaudRate = 57600,
|
bootcfg: use UAVobj to control boot-time HW config
This should mark an end to the compile-time selection of HW
configurations.
Minor changes in board initialization for all platforms:
- Most config structs are marked static to prevent badly written
drivers from directly referring to config data.
- Adapt to changes in .irq fields in config data.
- Adapt to changes in USART IRQ handling.
Major changes in board initialization for CC:
- Use HwSettings UAVObj to decide which drivers to attach to
the "main" port and the flexi port, and select the appropriate
device configuration data.
- HwSettings allows choosing between Disabled, Telemetry, SBUS,
Spektrum,GPS, and I2C for each of the two ports.
- Use ManualControlSettings.InputMode to init/configure the
appropriate receiver module, and register its available rx channels
with the PIOS_RCVR layer. Can choose between PWM, Spektrum and PPM
at board init time. PPM driver is broken, and SBUS will work once
it is added to this UAVObj as an option.
- CC build now includes code for SBUS, Spektrum and PWM receivers in
every firmware image.
PIOS_USART driver:
- Now handles its own low-level IRQs internally
- If NULL upper-level IRQ handler is bound in at board init time
then rx/tx is satisfied by internal PIOS_USART buffered IO routines
which are (typically) attached to the COM layer.
- If an alternate upper-level IRQ handler is bound in at board init
then that handler is called and expected to clear down the USART
IRQ sources. This is used by Spektrum and SBUS drivers.
PIOS_SBUS and PIOS_SPEKTRUM drivers:
- Improved data/API hiding
- No longer assume they know where their config data is stored which
allows for boot-time alternate configurations for the driver.
- Now registers an upper-level IRQ handlerwith the USART layer to
decouple the driver from which USART it is actually attached to.
2011-07-06 02:21:00 +02:00
|
|
|
.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_GPS */
|
|
|
|
|
|
|
|
#if defined(PIOS_INCLUDE_SPEKTRUM)
|
2011-07-03 01:25:35 +02:00
|
|
|
/*
|
bootcfg: use UAVobj to control boot-time HW config
This should mark an end to the compile-time selection of HW
configurations.
Minor changes in board initialization for all platforms:
- Most config structs are marked static to prevent badly written
drivers from directly referring to config data.
- Adapt to changes in .irq fields in config data.
- Adapt to changes in USART IRQ handling.
Major changes in board initialization for CC:
- Use HwSettings UAVObj to decide which drivers to attach to
the "main" port and the flexi port, and select the appropriate
device configuration data.
- HwSettings allows choosing between Disabled, Telemetry, SBUS,
Spektrum,GPS, and I2C for each of the two ports.
- Use ManualControlSettings.InputMode to init/configure the
appropriate receiver module, and register its available rx channels
with the PIOS_RCVR layer. Can choose between PWM, Spektrum and PPM
at board init time. PPM driver is broken, and SBUS will work once
it is added to this UAVObj as an option.
- CC build now includes code for SBUS, Spektrum and PWM receivers in
every firmware image.
PIOS_USART driver:
- Now handles its own low-level IRQs internally
- If NULL upper-level IRQ handler is bound in at board init time
then rx/tx is satisfied by internal PIOS_USART buffered IO routines
which are (typically) attached to the COM layer.
- If an alternate upper-level IRQ handler is bound in at board init
then that handler is called and expected to clear down the USART
IRQ sources. This is used by Spektrum and SBUS drivers.
PIOS_SBUS and PIOS_SPEKTRUM drivers:
- Improved data/API hiding
- No longer assume they know where their config data is stored which
allows for boot-time alternate configurations for the driver.
- Now registers an upper-level IRQ handlerwith the USART layer to
decouple the driver from which USART it is actually attached to.
2011-07-06 02:21:00 +02:00
|
|
|
* SPEKTRUM USART
|
2011-07-03 01:25:35 +02:00
|
|
|
*/
|
bootcfg: use UAVobj to control boot-time HW config
This should mark an end to the compile-time selection of HW
configurations.
Minor changes in board initialization for all platforms:
- Most config structs are marked static to prevent badly written
drivers from directly referring to config data.
- Adapt to changes in .irq fields in config data.
- Adapt to changes in USART IRQ handling.
Major changes in board initialization for CC:
- Use HwSettings UAVObj to decide which drivers to attach to
the "main" port and the flexi port, and select the appropriate
device configuration data.
- HwSettings allows choosing between Disabled, Telemetry, SBUS,
Spektrum,GPS, and I2C for each of the two ports.
- Use ManualControlSettings.InputMode to init/configure the
appropriate receiver module, and register its available rx channels
with the PIOS_RCVR layer. Can choose between PWM, Spektrum and PPM
at board init time. PPM driver is broken, and SBUS will work once
it is added to this UAVObj as an option.
- CC build now includes code for SBUS, Spektrum and PWM receivers in
every firmware image.
PIOS_USART driver:
- Now handles its own low-level IRQs internally
- If NULL upper-level IRQ handler is bound in at board init time
then rx/tx is satisfied by internal PIOS_USART buffered IO routines
which are (typically) attached to the COM layer.
- If an alternate upper-level IRQ handler is bound in at board init
then that handler is called and expected to clear down the USART
IRQ sources. This is used by Spektrum and SBUS drivers.
PIOS_SBUS and PIOS_SPEKTRUM drivers:
- Improved data/API hiding
- No longer assume they know where their config data is stored which
allows for boot-time alternate configurations for the driver.
- Now registers an upper-level IRQ handlerwith the USART layer to
decouple the driver from which USART it is actually attached to.
2011-07-06 02:21:00 +02:00
|
|
|
#include <pios_spektrum_priv.h>
|
2011-07-03 01:25:35 +02:00
|
|
|
|
bootcfg: use UAVobj to control boot-time HW config
This should mark an end to the compile-time selection of HW
configurations.
Minor changes in board initialization for all platforms:
- Most config structs are marked static to prevent badly written
drivers from directly referring to config data.
- Adapt to changes in .irq fields in config data.
- Adapt to changes in USART IRQ handling.
Major changes in board initialization for CC:
- Use HwSettings UAVObj to decide which drivers to attach to
the "main" port and the flexi port, and select the appropriate
device configuration data.
- HwSettings allows choosing between Disabled, Telemetry, SBUS,
Spektrum,GPS, and I2C for each of the two ports.
- Use ManualControlSettings.InputMode to init/configure the
appropriate receiver module, and register its available rx channels
with the PIOS_RCVR layer. Can choose between PWM, Spektrum and PPM
at board init time. PPM driver is broken, and SBUS will work once
it is added to this UAVObj as an option.
- CC build now includes code for SBUS, Spektrum and PWM receivers in
every firmware image.
PIOS_USART driver:
- Now handles its own low-level IRQs internally
- If NULL upper-level IRQ handler is bound in at board init time
then rx/tx is satisfied by internal PIOS_USART buffered IO routines
which are (typically) attached to the COM layer.
- If an alternate upper-level IRQ handler is bound in at board init
then that handler is called and expected to clear down the USART
IRQ sources. This is used by Spektrum and SBUS drivers.
PIOS_SBUS and PIOS_SPEKTRUM drivers:
- Improved data/API hiding
- No longer assume they know where their config data is stored which
allows for boot-time alternate configurations for the driver.
- Now registers an upper-level IRQ handlerwith the USART layer to
decouple the driver from which USART it is actually attached to.
2011-07-06 02:21:00 +02:00
|
|
|
static const struct pios_usart_cfg pios_usart_spektrum_main_cfg = {
|
|
|
|
.regs = USART1,
|
|
|
|
.init = {
|
2011-07-07 05:03:54 +02:00
|
|
|
.USART_BaudRate = 115200,
|
bootcfg: use UAVobj to control boot-time HW config
This should mark an end to the compile-time selection of HW
configurations.
Minor changes in board initialization for all platforms:
- Most config structs are marked static to prevent badly written
drivers from directly referring to config data.
- Adapt to changes in .irq fields in config data.
- Adapt to changes in USART IRQ handling.
Major changes in board initialization for CC:
- Use HwSettings UAVObj to decide which drivers to attach to
the "main" port and the flexi port, and select the appropriate
device configuration data.
- HwSettings allows choosing between Disabled, Telemetry, SBUS,
Spektrum,GPS, and I2C for each of the two ports.
- Use ManualControlSettings.InputMode to init/configure the
appropriate receiver module, and register its available rx channels
with the PIOS_RCVR layer. Can choose between PWM, Spektrum and PPM
at board init time. PPM driver is broken, and SBUS will work once
it is added to this UAVObj as an option.
- CC build now includes code for SBUS, Spektrum and PWM receivers in
every firmware image.
PIOS_USART driver:
- Now handles its own low-level IRQs internally
- If NULL upper-level IRQ handler is bound in at board init time
then rx/tx is satisfied by internal PIOS_USART buffered IO routines
which are (typically) attached to the COM layer.
- If an alternate upper-level IRQ handler is bound in at board init
then that handler is called and expected to clear down the USART
IRQ sources. This is used by Spektrum and SBUS drivers.
PIOS_SBUS and PIOS_SPEKTRUM drivers:
- Improved data/API hiding
- No longer assume they know where their config data is stored which
allows for boot-time alternate configurations for the driver.
- Now registers an upper-level IRQ handlerwith the USART layer to
decouple the driver from which USART it is actually attached to.
2011-07-06 02:21:00 +02:00
|
|
|
.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,
|
|
|
|
},
|
2011-07-03 01:25:35 +02:00
|
|
|
.irq = {
|
|
|
|
.init = {
|
bootcfg: use UAVobj to control boot-time HW config
This should mark an end to the compile-time selection of HW
configurations.
Minor changes in board initialization for all platforms:
- Most config structs are marked static to prevent badly written
drivers from directly referring to config data.
- Adapt to changes in .irq fields in config data.
- Adapt to changes in USART IRQ handling.
Major changes in board initialization for CC:
- Use HwSettings UAVObj to decide which drivers to attach to
the "main" port and the flexi port, and select the appropriate
device configuration data.
- HwSettings allows choosing between Disabled, Telemetry, SBUS,
Spektrum,GPS, and I2C for each of the two ports.
- Use ManualControlSettings.InputMode to init/configure the
appropriate receiver module, and register its available rx channels
with the PIOS_RCVR layer. Can choose between PWM, Spektrum and PPM
at board init time. PPM driver is broken, and SBUS will work once
it is added to this UAVObj as an option.
- CC build now includes code for SBUS, Spektrum and PWM receivers in
every firmware image.
PIOS_USART driver:
- Now handles its own low-level IRQs internally
- If NULL upper-level IRQ handler is bound in at board init time
then rx/tx is satisfied by internal PIOS_USART buffered IO routines
which are (typically) attached to the COM layer.
- If an alternate upper-level IRQ handler is bound in at board init
then that handler is called and expected to clear down the USART
IRQ sources. This is used by Spektrum and SBUS drivers.
PIOS_SBUS and PIOS_SPEKTRUM drivers:
- Improved data/API hiding
- No longer assume they know where their config data is stored which
allows for boot-time alternate configurations for the driver.
- Now registers an upper-level IRQ handlerwith the USART layer to
decouple the driver from which USART it is actually attached to.
2011-07-06 02:21:00 +02:00
|
|
|
.NVIC_IRQChannel = USART1_IRQn,
|
|
|
|
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
|
2011-07-03 01:25:35 +02:00
|
|
|
.NVIC_IRQChannelSubPriority = 0,
|
|
|
|
.NVIC_IRQChannelCmd = ENABLE,
|
|
|
|
},
|
|
|
|
},
|
bootcfg: use UAVobj to control boot-time HW config
This should mark an end to the compile-time selection of HW
configurations.
Minor changes in board initialization for all platforms:
- Most config structs are marked static to prevent badly written
drivers from directly referring to config data.
- Adapt to changes in .irq fields in config data.
- Adapt to changes in USART IRQ handling.
Major changes in board initialization for CC:
- Use HwSettings UAVObj to decide which drivers to attach to
the "main" port and the flexi port, and select the appropriate
device configuration data.
- HwSettings allows choosing between Disabled, Telemetry, SBUS,
Spektrum,GPS, and I2C for each of the two ports.
- Use ManualControlSettings.InputMode to init/configure the
appropriate receiver module, and register its available rx channels
with the PIOS_RCVR layer. Can choose between PWM, Spektrum and PPM
at board init time. PPM driver is broken, and SBUS will work once
it is added to this UAVObj as an option.
- CC build now includes code for SBUS, Spektrum and PWM receivers in
every firmware image.
PIOS_USART driver:
- Now handles its own low-level IRQs internally
- If NULL upper-level IRQ handler is bound in at board init time
then rx/tx is satisfied by internal PIOS_USART buffered IO routines
which are (typically) attached to the COM layer.
- If an alternate upper-level IRQ handler is bound in at board init
then that handler is called and expected to clear down the USART
IRQ sources. This is used by Spektrum and SBUS drivers.
PIOS_SBUS and PIOS_SPEKTRUM drivers:
- Improved data/API hiding
- No longer assume they know where their config data is stored which
allows for boot-time alternate configurations for the driver.
- Now registers an upper-level IRQ handlerwith the USART layer to
decouple the driver from which USART it is actually attached to.
2011-07-06 02:21:00 +02:00
|
|
|
.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_IN_FLOATING,
|
|
|
|
},
|
|
|
|
},
|
2011-07-03 01:25:35 +02:00
|
|
|
};
|
|
|
|
|
bootcfg: use UAVobj to control boot-time HW config
This should mark an end to the compile-time selection of HW
configurations.
Minor changes in board initialization for all platforms:
- Most config structs are marked static to prevent badly written
drivers from directly referring to config data.
- Adapt to changes in .irq fields in config data.
- Adapt to changes in USART IRQ handling.
Major changes in board initialization for CC:
- Use HwSettings UAVObj to decide which drivers to attach to
the "main" port and the flexi port, and select the appropriate
device configuration data.
- HwSettings allows choosing between Disabled, Telemetry, SBUS,
Spektrum,GPS, and I2C for each of the two ports.
- Use ManualControlSettings.InputMode to init/configure the
appropriate receiver module, and register its available rx channels
with the PIOS_RCVR layer. Can choose between PWM, Spektrum and PPM
at board init time. PPM driver is broken, and SBUS will work once
it is added to this UAVObj as an option.
- CC build now includes code for SBUS, Spektrum and PWM receivers in
every firmware image.
PIOS_USART driver:
- Now handles its own low-level IRQs internally
- If NULL upper-level IRQ handler is bound in at board init time
then rx/tx is satisfied by internal PIOS_USART buffered IO routines
which are (typically) attached to the COM layer.
- If an alternate upper-level IRQ handler is bound in at board init
then that handler is called and expected to clear down the USART
IRQ sources. This is used by Spektrum and SBUS drivers.
PIOS_SBUS and PIOS_SPEKTRUM drivers:
- Improved data/API hiding
- No longer assume they know where their config data is stored which
allows for boot-time alternate configurations for the driver.
- Now registers an upper-level IRQ handlerwith the USART layer to
decouple the driver from which USART it is actually attached to.
2011-07-06 02:21:00 +02:00
|
|
|
static const struct pios_spektrum_cfg pios_spektrum_main_cfg = {
|
|
|
|
.bind = {
|
|
|
|
.gpio = GPIOA,
|
|
|
|
.init = {
|
|
|
|
.GPIO_Pin = GPIO_Pin_10,
|
|
|
|
.GPIO_Speed = GPIO_Speed_2MHz,
|
|
|
|
.GPIO_Mode = GPIO_Mode_Out_PP,
|
|
|
|
},
|
|
|
|
},
|
|
|
|
.remap = 0,
|
|
|
|
};
|
2011-07-03 01:25:35 +02:00
|
|
|
|
bootcfg: use UAVobj to control boot-time HW config
This should mark an end to the compile-time selection of HW
configurations.
Minor changes in board initialization for all platforms:
- Most config structs are marked static to prevent badly written
drivers from directly referring to config data.
- Adapt to changes in .irq fields in config data.
- Adapt to changes in USART IRQ handling.
Major changes in board initialization for CC:
- Use HwSettings UAVObj to decide which drivers to attach to
the "main" port and the flexi port, and select the appropriate
device configuration data.
- HwSettings allows choosing between Disabled, Telemetry, SBUS,
Spektrum,GPS, and I2C for each of the two ports.
- Use ManualControlSettings.InputMode to init/configure the
appropriate receiver module, and register its available rx channels
with the PIOS_RCVR layer. Can choose between PWM, Spektrum and PPM
at board init time. PPM driver is broken, and SBUS will work once
it is added to this UAVObj as an option.
- CC build now includes code for SBUS, Spektrum and PWM receivers in
every firmware image.
PIOS_USART driver:
- Now handles its own low-level IRQs internally
- If NULL upper-level IRQ handler is bound in at board init time
then rx/tx is satisfied by internal PIOS_USART buffered IO routines
which are (typically) attached to the COM layer.
- If an alternate upper-level IRQ handler is bound in at board init
then that handler is called and expected to clear down the USART
IRQ sources. This is used by Spektrum and SBUS drivers.
PIOS_SBUS and PIOS_SPEKTRUM drivers:
- Improved data/API hiding
- No longer assume they know where their config data is stored which
allows for boot-time alternate configurations for the driver.
- Now registers an upper-level IRQ handlerwith the USART layer to
decouple the driver from which USART it is actually attached to.
2011-07-06 02:21:00 +02:00
|
|
|
static const struct pios_usart_cfg pios_usart_spektrum_flexi_cfg = {
|
|
|
|
.regs = USART3,
|
2011-02-12 23:19:43 +01:00
|
|
|
.init = {
|
2011-07-07 05:03:54 +02:00
|
|
|
.USART_BaudRate = 115200,
|
2011-02-12 23:19:43 +01:00
|
|
|
.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,
|
|
|
|
},
|
|
|
|
.irq = {
|
|
|
|
.init = {
|
bootcfg: use UAVobj to control boot-time HW config
This should mark an end to the compile-time selection of HW
configurations.
Minor changes in board initialization for all platforms:
- Most config structs are marked static to prevent badly written
drivers from directly referring to config data.
- Adapt to changes in .irq fields in config data.
- Adapt to changes in USART IRQ handling.
Major changes in board initialization for CC:
- Use HwSettings UAVObj to decide which drivers to attach to
the "main" port and the flexi port, and select the appropriate
device configuration data.
- HwSettings allows choosing between Disabled, Telemetry, SBUS,
Spektrum,GPS, and I2C for each of the two ports.
- Use ManualControlSettings.InputMode to init/configure the
appropriate receiver module, and register its available rx channels
with the PIOS_RCVR layer. Can choose between PWM, Spektrum and PPM
at board init time. PPM driver is broken, and SBUS will work once
it is added to this UAVObj as an option.
- CC build now includes code for SBUS, Spektrum and PWM receivers in
every firmware image.
PIOS_USART driver:
- Now handles its own low-level IRQs internally
- If NULL upper-level IRQ handler is bound in at board init time
then rx/tx is satisfied by internal PIOS_USART buffered IO routines
which are (typically) attached to the COM layer.
- If an alternate upper-level IRQ handler is bound in at board init
then that handler is called and expected to clear down the USART
IRQ sources. This is used by Spektrum and SBUS drivers.
PIOS_SBUS and PIOS_SPEKTRUM drivers:
- Improved data/API hiding
- No longer assume they know where their config data is stored which
allows for boot-time alternate configurations for the driver.
- Now registers an upper-level IRQ handlerwith the USART layer to
decouple the driver from which USART it is actually attached to.
2011-07-06 02:21:00 +02:00
|
|
|
.NVIC_IRQChannel = USART3_IRQn,
|
2011-02-12 23:19:43 +01:00
|
|
|
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
|
|
|
|
.NVIC_IRQChannelSubPriority = 0,
|
|
|
|
.NVIC_IRQChannelCmd = ENABLE,
|
|
|
|
},
|
|
|
|
},
|
|
|
|
.rx = {
|
2011-07-14 13:43:26 +02:00
|
|
|
.gpio = GPIOB,
|
2011-02-12 23:19:43 +01:00
|
|
|
.init = {
|
bootcfg: use UAVobj to control boot-time HW config
This should mark an end to the compile-time selection of HW
configurations.
Minor changes in board initialization for all platforms:
- Most config structs are marked static to prevent badly written
drivers from directly referring to config data.
- Adapt to changes in .irq fields in config data.
- Adapt to changes in USART IRQ handling.
Major changes in board initialization for CC:
- Use HwSettings UAVObj to decide which drivers to attach to
the "main" port and the flexi port, and select the appropriate
device configuration data.
- HwSettings allows choosing between Disabled, Telemetry, SBUS,
Spektrum,GPS, and I2C for each of the two ports.
- Use ManualControlSettings.InputMode to init/configure the
appropriate receiver module, and register its available rx channels
with the PIOS_RCVR layer. Can choose between PWM, Spektrum and PPM
at board init time. PPM driver is broken, and SBUS will work once
it is added to this UAVObj as an option.
- CC build now includes code for SBUS, Spektrum and PWM receivers in
every firmware image.
PIOS_USART driver:
- Now handles its own low-level IRQs internally
- If NULL upper-level IRQ handler is bound in at board init time
then rx/tx is satisfied by internal PIOS_USART buffered IO routines
which are (typically) attached to the COM layer.
- If an alternate upper-level IRQ handler is bound in at board init
then that handler is called and expected to clear down the USART
IRQ sources. This is used by Spektrum and SBUS drivers.
PIOS_SBUS and PIOS_SPEKTRUM drivers:
- Improved data/API hiding
- No longer assume they know where their config data is stored which
allows for boot-time alternate configurations for the driver.
- Now registers an upper-level IRQ handlerwith the USART layer to
decouple the driver from which USART it is actually attached to.
2011-07-06 02:21:00 +02:00
|
|
|
.GPIO_Pin = GPIO_Pin_11,
|
2011-02-12 23:19:43 +01:00
|
|
|
.GPIO_Speed = GPIO_Speed_2MHz,
|
|
|
|
.GPIO_Mode = GPIO_Mode_IPU,
|
|
|
|
},
|
|
|
|
},
|
|
|
|
.tx = {
|
2011-07-14 13:43:26 +02:00
|
|
|
.gpio = GPIOB,
|
2011-02-12 23:19:43 +01:00
|
|
|
.init = {
|
bootcfg: use UAVobj to control boot-time HW config
This should mark an end to the compile-time selection of HW
configurations.
Minor changes in board initialization for all platforms:
- Most config structs are marked static to prevent badly written
drivers from directly referring to config data.
- Adapt to changes in .irq fields in config data.
- Adapt to changes in USART IRQ handling.
Major changes in board initialization for CC:
- Use HwSettings UAVObj to decide which drivers to attach to
the "main" port and the flexi port, and select the appropriate
device configuration data.
- HwSettings allows choosing between Disabled, Telemetry, SBUS,
Spektrum,GPS, and I2C for each of the two ports.
- Use ManualControlSettings.InputMode to init/configure the
appropriate receiver module, and register its available rx channels
with the PIOS_RCVR layer. Can choose between PWM, Spektrum and PPM
at board init time. PPM driver is broken, and SBUS will work once
it is added to this UAVObj as an option.
- CC build now includes code for SBUS, Spektrum and PWM receivers in
every firmware image.
PIOS_USART driver:
- Now handles its own low-level IRQs internally
- If NULL upper-level IRQ handler is bound in at board init time
then rx/tx is satisfied by internal PIOS_USART buffered IO routines
which are (typically) attached to the COM layer.
- If an alternate upper-level IRQ handler is bound in at board init
then that handler is called and expected to clear down the USART
IRQ sources. This is used by Spektrum and SBUS drivers.
PIOS_SBUS and PIOS_SPEKTRUM drivers:
- Improved data/API hiding
- No longer assume they know where their config data is stored which
allows for boot-time alternate configurations for the driver.
- Now registers an upper-level IRQ handlerwith the USART layer to
decouple the driver from which USART it is actually attached to.
2011-07-06 02:21:00 +02:00
|
|
|
.GPIO_Pin = GPIO_Pin_10,
|
2011-02-12 23:19:43 +01:00
|
|
|
.GPIO_Speed = GPIO_Speed_2MHz,
|
|
|
|
.GPIO_Mode = GPIO_Mode_IN_FLOATING,
|
|
|
|
},
|
|
|
|
},
|
|
|
|
};
|
|
|
|
|
bootcfg: use UAVobj to control boot-time HW config
This should mark an end to the compile-time selection of HW
configurations.
Minor changes in board initialization for all platforms:
- Most config structs are marked static to prevent badly written
drivers from directly referring to config data.
- Adapt to changes in .irq fields in config data.
- Adapt to changes in USART IRQ handling.
Major changes in board initialization for CC:
- Use HwSettings UAVObj to decide which drivers to attach to
the "main" port and the flexi port, and select the appropriate
device configuration data.
- HwSettings allows choosing between Disabled, Telemetry, SBUS,
Spektrum,GPS, and I2C for each of the two ports.
- Use ManualControlSettings.InputMode to init/configure the
appropriate receiver module, and register its available rx channels
with the PIOS_RCVR layer. Can choose between PWM, Spektrum and PPM
at board init time. PPM driver is broken, and SBUS will work once
it is added to this UAVObj as an option.
- CC build now includes code for SBUS, Spektrum and PWM receivers in
every firmware image.
PIOS_USART driver:
- Now handles its own low-level IRQs internally
- If NULL upper-level IRQ handler is bound in at board init time
then rx/tx is satisfied by internal PIOS_USART buffered IO routines
which are (typically) attached to the COM layer.
- If an alternate upper-level IRQ handler is bound in at board init
then that handler is called and expected to clear down the USART
IRQ sources. This is used by Spektrum and SBUS drivers.
PIOS_SBUS and PIOS_SPEKTRUM drivers:
- Improved data/API hiding
- No longer assume they know where their config data is stored which
allows for boot-time alternate configurations for the driver.
- Now registers an upper-level IRQ handlerwith the USART layer to
decouple the driver from which USART it is actually attached to.
2011-07-06 02:21:00 +02:00
|
|
|
static const struct pios_spektrum_cfg pios_spektrum_flexi_cfg = {
|
|
|
|
.bind = {
|
|
|
|
.gpio = GPIOB,
|
|
|
|
.init = {
|
|
|
|
.GPIO_Pin = GPIO_Pin_11,
|
|
|
|
.GPIO_Speed = GPIO_Speed_2MHz,
|
|
|
|
.GPIO_Mode = GPIO_Mode_Out_PP,
|
|
|
|
},
|
2011-01-28 10:25:30 +01:00
|
|
|
},
|
|
|
|
.remap = 0,
|
2011-01-14 02:38:19 +01:00
|
|
|
};
|
2011-01-28 10:25:30 +01:00
|
|
|
|
2011-02-12 23:19:43 +01:00
|
|
|
#endif /* PIOS_INCLUDE_SPEKTRUM */
|
2011-01-14 02:38:19 +01:00
|
|
|
|
2011-06-13 02:04:49 +02:00
|
|
|
#if defined(PIOS_INCLUDE_SBUS)
|
|
|
|
/*
|
|
|
|
* SBUS USART
|
|
|
|
*/
|
bootcfg: use UAVobj to control boot-time HW config
This should mark an end to the compile-time selection of HW
configurations.
Minor changes in board initialization for all platforms:
- Most config structs are marked static to prevent badly written
drivers from directly referring to config data.
- Adapt to changes in .irq fields in config data.
- Adapt to changes in USART IRQ handling.
Major changes in board initialization for CC:
- Use HwSettings UAVObj to decide which drivers to attach to
the "main" port and the flexi port, and select the appropriate
device configuration data.
- HwSettings allows choosing between Disabled, Telemetry, SBUS,
Spektrum,GPS, and I2C for each of the two ports.
- Use ManualControlSettings.InputMode to init/configure the
appropriate receiver module, and register its available rx channels
with the PIOS_RCVR layer. Can choose between PWM, Spektrum and PPM
at board init time. PPM driver is broken, and SBUS will work once
it is added to this UAVObj as an option.
- CC build now includes code for SBUS, Spektrum and PWM receivers in
every firmware image.
PIOS_USART driver:
- Now handles its own low-level IRQs internally
- If NULL upper-level IRQ handler is bound in at board init time
then rx/tx is satisfied by internal PIOS_USART buffered IO routines
which are (typically) attached to the COM layer.
- If an alternate upper-level IRQ handler is bound in at board init
then that handler is called and expected to clear down the USART
IRQ sources. This is used by Spektrum and SBUS drivers.
PIOS_SBUS and PIOS_SPEKTRUM drivers:
- Improved data/API hiding
- No longer assume they know where their config data is stored which
allows for boot-time alternate configurations for the driver.
- Now registers an upper-level IRQ handlerwith the USART layer to
decouple the driver from which USART it is actually attached to.
2011-07-06 02:21:00 +02:00
|
|
|
#include <pios_sbus_priv.h>
|
|
|
|
|
|
|
|
static const struct pios_usart_cfg pios_usart_sbus_main_cfg = {
|
|
|
|
.regs = USART1,
|
2011-06-13 02:04:49 +02:00
|
|
|
.init = {
|
2011-07-07 05:03:54 +02:00
|
|
|
.USART_BaudRate = 100000,
|
2011-06-13 02:04:49 +02:00
|
|
|
.USART_WordLength = USART_WordLength_8b,
|
2011-06-18 22:19:57 +02:00
|
|
|
.USART_Parity = USART_Parity_Even,
|
|
|
|
.USART_StopBits = USART_StopBits_2,
|
2011-06-13 02:04:49 +02:00
|
|
|
.USART_HardwareFlowControl = USART_HardwareFlowControl_None,
|
|
|
|
.USART_Mode = USART_Mode_Rx,
|
|
|
|
},
|
|
|
|
.irq = {
|
|
|
|
.init = {
|
bootcfg: use UAVobj to control boot-time HW config
This should mark an end to the compile-time selection of HW
configurations.
Minor changes in board initialization for all platforms:
- Most config structs are marked static to prevent badly written
drivers from directly referring to config data.
- Adapt to changes in .irq fields in config data.
- Adapt to changes in USART IRQ handling.
Major changes in board initialization for CC:
- Use HwSettings UAVObj to decide which drivers to attach to
the "main" port and the flexi port, and select the appropriate
device configuration data.
- HwSettings allows choosing between Disabled, Telemetry, SBUS,
Spektrum,GPS, and I2C for each of the two ports.
- Use ManualControlSettings.InputMode to init/configure the
appropriate receiver module, and register its available rx channels
with the PIOS_RCVR layer. Can choose between PWM, Spektrum and PPM
at board init time. PPM driver is broken, and SBUS will work once
it is added to this UAVObj as an option.
- CC build now includes code for SBUS, Spektrum and PWM receivers in
every firmware image.
PIOS_USART driver:
- Now handles its own low-level IRQs internally
- If NULL upper-level IRQ handler is bound in at board init time
then rx/tx is satisfied by internal PIOS_USART buffered IO routines
which are (typically) attached to the COM layer.
- If an alternate upper-level IRQ handler is bound in at board init
then that handler is called and expected to clear down the USART
IRQ sources. This is used by Spektrum and SBUS drivers.
PIOS_SBUS and PIOS_SPEKTRUM drivers:
- Improved data/API hiding
- No longer assume they know where their config data is stored which
allows for boot-time alternate configurations for the driver.
- Now registers an upper-level IRQ handlerwith the USART layer to
decouple the driver from which USART it is actually attached to.
2011-07-06 02:21:00 +02:00
|
|
|
.NVIC_IRQChannel = USART1_IRQn,
|
2011-06-13 02:04:49 +02:00
|
|
|
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
|
|
|
|
.NVIC_IRQChannelSubPriority = 0,
|
|
|
|
.NVIC_IRQChannelCmd = ENABLE,
|
|
|
|
},
|
|
|
|
},
|
|
|
|
.rx = {
|
bootcfg: use UAVobj to control boot-time HW config
This should mark an end to the compile-time selection of HW
configurations.
Minor changes in board initialization for all platforms:
- Most config structs are marked static to prevent badly written
drivers from directly referring to config data.
- Adapt to changes in .irq fields in config data.
- Adapt to changes in USART IRQ handling.
Major changes in board initialization for CC:
- Use HwSettings UAVObj to decide which drivers to attach to
the "main" port and the flexi port, and select the appropriate
device configuration data.
- HwSettings allows choosing between Disabled, Telemetry, SBUS,
Spektrum,GPS, and I2C for each of the two ports.
- Use ManualControlSettings.InputMode to init/configure the
appropriate receiver module, and register its available rx channels
with the PIOS_RCVR layer. Can choose between PWM, Spektrum and PPM
at board init time. PPM driver is broken, and SBUS will work once
it is added to this UAVObj as an option.
- CC build now includes code for SBUS, Spektrum and PWM receivers in
every firmware image.
PIOS_USART driver:
- Now handles its own low-level IRQs internally
- If NULL upper-level IRQ handler is bound in at board init time
then rx/tx is satisfied by internal PIOS_USART buffered IO routines
which are (typically) attached to the COM layer.
- If an alternate upper-level IRQ handler is bound in at board init
then that handler is called and expected to clear down the USART
IRQ sources. This is used by Spektrum and SBUS drivers.
PIOS_SBUS and PIOS_SPEKTRUM drivers:
- Improved data/API hiding
- No longer assume they know where their config data is stored which
allows for boot-time alternate configurations for the driver.
- Now registers an upper-level IRQ handlerwith the USART layer to
decouple the driver from which USART it is actually attached to.
2011-07-06 02:21:00 +02:00
|
|
|
.gpio = GPIOA,
|
2011-06-13 02:04:49 +02:00
|
|
|
.init = {
|
bootcfg: use UAVobj to control boot-time HW config
This should mark an end to the compile-time selection of HW
configurations.
Minor changes in board initialization for all platforms:
- Most config structs are marked static to prevent badly written
drivers from directly referring to config data.
- Adapt to changes in .irq fields in config data.
- Adapt to changes in USART IRQ handling.
Major changes in board initialization for CC:
- Use HwSettings UAVObj to decide which drivers to attach to
the "main" port and the flexi port, and select the appropriate
device configuration data.
- HwSettings allows choosing between Disabled, Telemetry, SBUS,
Spektrum,GPS, and I2C for each of the two ports.
- Use ManualControlSettings.InputMode to init/configure the
appropriate receiver module, and register its available rx channels
with the PIOS_RCVR layer. Can choose between PWM, Spektrum and PPM
at board init time. PPM driver is broken, and SBUS will work once
it is added to this UAVObj as an option.
- CC build now includes code for SBUS, Spektrum and PWM receivers in
every firmware image.
PIOS_USART driver:
- Now handles its own low-level IRQs internally
- If NULL upper-level IRQ handler is bound in at board init time
then rx/tx is satisfied by internal PIOS_USART buffered IO routines
which are (typically) attached to the COM layer.
- If an alternate upper-level IRQ handler is bound in at board init
then that handler is called and expected to clear down the USART
IRQ sources. This is used by Spektrum and SBUS drivers.
PIOS_SBUS and PIOS_SPEKTRUM drivers:
- Improved data/API hiding
- No longer assume they know where their config data is stored which
allows for boot-time alternate configurations for the driver.
- Now registers an upper-level IRQ handlerwith the USART layer to
decouple the driver from which USART it is actually attached to.
2011-07-06 02:21:00 +02:00
|
|
|
.GPIO_Pin = GPIO_Pin_10,
|
2011-06-13 02:04:49 +02:00
|
|
|
.GPIO_Speed = GPIO_Speed_2MHz,
|
|
|
|
.GPIO_Mode = GPIO_Mode_IPU,
|
|
|
|
},
|
|
|
|
},
|
|
|
|
.tx = {
|
bootcfg: use UAVobj to control boot-time HW config
This should mark an end to the compile-time selection of HW
configurations.
Minor changes in board initialization for all platforms:
- Most config structs are marked static to prevent badly written
drivers from directly referring to config data.
- Adapt to changes in .irq fields in config data.
- Adapt to changes in USART IRQ handling.
Major changes in board initialization for CC:
- Use HwSettings UAVObj to decide which drivers to attach to
the "main" port and the flexi port, and select the appropriate
device configuration data.
- HwSettings allows choosing between Disabled, Telemetry, SBUS,
Spektrum,GPS, and I2C for each of the two ports.
- Use ManualControlSettings.InputMode to init/configure the
appropriate receiver module, and register its available rx channels
with the PIOS_RCVR layer. Can choose between PWM, Spektrum and PPM
at board init time. PPM driver is broken, and SBUS will work once
it is added to this UAVObj as an option.
- CC build now includes code for SBUS, Spektrum and PWM receivers in
every firmware image.
PIOS_USART driver:
- Now handles its own low-level IRQs internally
- If NULL upper-level IRQ handler is bound in at board init time
then rx/tx is satisfied by internal PIOS_USART buffered IO routines
which are (typically) attached to the COM layer.
- If an alternate upper-level IRQ handler is bound in at board init
then that handler is called and expected to clear down the USART
IRQ sources. This is used by Spektrum and SBUS drivers.
PIOS_SBUS and PIOS_SPEKTRUM drivers:
- Improved data/API hiding
- No longer assume they know where their config data is stored which
allows for boot-time alternate configurations for the driver.
- Now registers an upper-level IRQ handlerwith the USART layer to
decouple the driver from which USART it is actually attached to.
2011-07-06 02:21:00 +02:00
|
|
|
.gpio = GPIOA,
|
2011-06-13 02:04:49 +02:00
|
|
|
.init = {
|
bootcfg: use UAVobj to control boot-time HW config
This should mark an end to the compile-time selection of HW
configurations.
Minor changes in board initialization for all platforms:
- Most config structs are marked static to prevent badly written
drivers from directly referring to config data.
- Adapt to changes in .irq fields in config data.
- Adapt to changes in USART IRQ handling.
Major changes in board initialization for CC:
- Use HwSettings UAVObj to decide which drivers to attach to
the "main" port and the flexi port, and select the appropriate
device configuration data.
- HwSettings allows choosing between Disabled, Telemetry, SBUS,
Spektrum,GPS, and I2C for each of the two ports.
- Use ManualControlSettings.InputMode to init/configure the
appropriate receiver module, and register its available rx channels
with the PIOS_RCVR layer. Can choose between PWM, Spektrum and PPM
at board init time. PPM driver is broken, and SBUS will work once
it is added to this UAVObj as an option.
- CC build now includes code for SBUS, Spektrum and PWM receivers in
every firmware image.
PIOS_USART driver:
- Now handles its own low-level IRQs internally
- If NULL upper-level IRQ handler is bound in at board init time
then rx/tx is satisfied by internal PIOS_USART buffered IO routines
which are (typically) attached to the COM layer.
- If an alternate upper-level IRQ handler is bound in at board init
then that handler is called and expected to clear down the USART
IRQ sources. This is used by Spektrum and SBUS drivers.
PIOS_SBUS and PIOS_SPEKTRUM drivers:
- Improved data/API hiding
- No longer assume they know where their config data is stored which
allows for boot-time alternate configurations for the driver.
- Now registers an upper-level IRQ handlerwith the USART layer to
decouple the driver from which USART it is actually attached to.
2011-07-06 02:21:00 +02:00
|
|
|
.GPIO_Pin = GPIO_Pin_9,
|
2011-06-13 02:04:49 +02:00
|
|
|
.GPIO_Speed = GPIO_Speed_2MHz,
|
|
|
|
.GPIO_Mode = GPIO_Mode_IN_FLOATING,
|
|
|
|
},
|
|
|
|
},
|
|
|
|
};
|
|
|
|
|
bootcfg: use UAVobj to control boot-time HW config
This should mark an end to the compile-time selection of HW
configurations.
Minor changes in board initialization for all platforms:
- Most config structs are marked static to prevent badly written
drivers from directly referring to config data.
- Adapt to changes in .irq fields in config data.
- Adapt to changes in USART IRQ handling.
Major changes in board initialization for CC:
- Use HwSettings UAVObj to decide which drivers to attach to
the "main" port and the flexi port, and select the appropriate
device configuration data.
- HwSettings allows choosing between Disabled, Telemetry, SBUS,
Spektrum,GPS, and I2C for each of the two ports.
- Use ManualControlSettings.InputMode to init/configure the
appropriate receiver module, and register its available rx channels
with the PIOS_RCVR layer. Can choose between PWM, Spektrum and PPM
at board init time. PPM driver is broken, and SBUS will work once
it is added to this UAVObj as an option.
- CC build now includes code for SBUS, Spektrum and PWM receivers in
every firmware image.
PIOS_USART driver:
- Now handles its own low-level IRQs internally
- If NULL upper-level IRQ handler is bound in at board init time
then rx/tx is satisfied by internal PIOS_USART buffered IO routines
which are (typically) attached to the COM layer.
- If an alternate upper-level IRQ handler is bound in at board init
then that handler is called and expected to clear down the USART
IRQ sources. This is used by Spektrum and SBUS drivers.
PIOS_SBUS and PIOS_SPEKTRUM drivers:
- Improved data/API hiding
- No longer assume they know where their config data is stored which
allows for boot-time alternate configurations for the driver.
- Now registers an upper-level IRQ handlerwith the USART layer to
decouple the driver from which USART it is actually attached to.
2011-07-06 02:21:00 +02:00
|
|
|
static const struct pios_sbus_cfg pios_sbus_cfg = {
|
|
|
|
/* Inverter configuration */
|
|
|
|
.inv = {
|
|
|
|
.gpio = GPIOB,
|
|
|
|
.init = {
|
|
|
|
.GPIO_Pin = GPIO_Pin_2,
|
|
|
|
.GPIO_Mode = GPIO_Mode_Out_PP,
|
|
|
|
.GPIO_Speed = GPIO_Speed_2MHz,
|
|
|
|
},
|
|
|
|
},
|
2011-06-19 13:30:13 +02:00
|
|
|
.gpio_clk_func = RCC_APB2PeriphClockCmd,
|
|
|
|
.gpio_clk_periph = RCC_APB2Periph_GPIOB,
|
|
|
|
.gpio_inv_enable = Bit_SET,
|
2011-06-13 02:04:49 +02:00
|
|
|
};
|
|
|
|
|
|
|
|
#endif /* PIOS_INCLUDE_SBUS */
|
|
|
|
|
bootcfg: use UAVobj to control boot-time HW config
This should mark an end to the compile-time selection of HW
configurations.
Minor changes in board initialization for all platforms:
- Most config structs are marked static to prevent badly written
drivers from directly referring to config data.
- Adapt to changes in .irq fields in config data.
- Adapt to changes in USART IRQ handling.
Major changes in board initialization for CC:
- Use HwSettings UAVObj to decide which drivers to attach to
the "main" port and the flexi port, and select the appropriate
device configuration data.
- HwSettings allows choosing between Disabled, Telemetry, SBUS,
Spektrum,GPS, and I2C for each of the two ports.
- Use ManualControlSettings.InputMode to init/configure the
appropriate receiver module, and register its available rx channels
with the PIOS_RCVR layer. Can choose between PWM, Spektrum and PPM
at board init time. PPM driver is broken, and SBUS will work once
it is added to this UAVObj as an option.
- CC build now includes code for SBUS, Spektrum and PWM receivers in
every firmware image.
PIOS_USART driver:
- Now handles its own low-level IRQs internally
- If NULL upper-level IRQ handler is bound in at board init time
then rx/tx is satisfied by internal PIOS_USART buffered IO routines
which are (typically) attached to the COM layer.
- If an alternate upper-level IRQ handler is bound in at board init
then that handler is called and expected to clear down the USART
IRQ sources. This is used by Spektrum and SBUS drivers.
PIOS_SBUS and PIOS_SPEKTRUM drivers:
- Improved data/API hiding
- No longer assume they know where their config data is stored which
allows for boot-time alternate configurations for the driver.
- Now registers an upper-level IRQ handlerwith the USART layer to
decouple the driver from which USART it is actually attached to.
2011-07-06 02:21:00 +02:00
|
|
|
#endif /* PIOS_INCLUDE_USART */
|
2011-01-14 02:38:19 +01:00
|
|
|
|
2011-02-12 23:19:43 +01:00
|
|
|
#if defined(PIOS_INCLUDE_COM)
|
2011-01-14 02:38:19 +01:00
|
|
|
|
2011-02-12 23:19:43 +01:00
|
|
|
#include "pios_com_priv.h"
|
2011-01-14 02:38:19 +01:00
|
|
|
|
2011-07-29 16:04:55 +02:00
|
|
|
#define PIOS_COM_TELEM_RF_RX_BUF_LEN 192
|
|
|
|
#define PIOS_COM_TELEM_RF_TX_BUF_LEN 192
|
|
|
|
|
|
|
|
#define PIOS_COM_GPS_RX_BUF_LEN 96
|
|
|
|
|
|
|
|
#define PIOS_COM_TELEM_USB_RX_BUF_LEN 192
|
|
|
|
#define PIOS_COM_TELEM_USB_TX_BUF_LEN 192
|
|
|
|
|
2011-02-12 23:19:43 +01:00
|
|
|
#endif /* PIOS_INCLUDE_COM */
|
2011-01-21 04:40:21 +01:00
|
|
|
|
bootcfg: use UAVobj to control boot-time HW config
This should mark an end to the compile-time selection of HW
configurations.
Minor changes in board initialization for all platforms:
- Most config structs are marked static to prevent badly written
drivers from directly referring to config data.
- Adapt to changes in .irq fields in config data.
- Adapt to changes in USART IRQ handling.
Major changes in board initialization for CC:
- Use HwSettings UAVObj to decide which drivers to attach to
the "main" port and the flexi port, and select the appropriate
device configuration data.
- HwSettings allows choosing between Disabled, Telemetry, SBUS,
Spektrum,GPS, and I2C for each of the two ports.
- Use ManualControlSettings.InputMode to init/configure the
appropriate receiver module, and register its available rx channels
with the PIOS_RCVR layer. Can choose between PWM, Spektrum and PPM
at board init time. PPM driver is broken, and SBUS will work once
it is added to this UAVObj as an option.
- CC build now includes code for SBUS, Spektrum and PWM receivers in
every firmware image.
PIOS_USART driver:
- Now handles its own low-level IRQs internally
- If NULL upper-level IRQ handler is bound in at board init time
then rx/tx is satisfied by internal PIOS_USART buffered IO routines
which are (typically) attached to the COM layer.
- If an alternate upper-level IRQ handler is bound in at board init
then that handler is called and expected to clear down the USART
IRQ sources. This is used by Spektrum and SBUS drivers.
PIOS_SBUS and PIOS_SPEKTRUM drivers:
- Improved data/API hiding
- No longer assume they know where their config data is stored which
allows for boot-time alternate configurations for the driver.
- Now registers an upper-level IRQ handlerwith the USART layer to
decouple the driver from which USART it is actually attached to.
2011-07-06 02:21:00 +02:00
|
|
|
#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
|
|
|
|
|
2011-01-21 04:40:21 +01:00
|
|
|
/*
|
|
|
|
* 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,
|
2011-08-13 05:23:16 +02:00
|
|
|
.TIM_Pulse = PIOS_SERVOS_INITIAL_POSITION,
|
2011-01-21 04:40:21 +01:00
|
|
|
.TIM_OCPolarity = TIM_OCPolarity_High,
|
|
|
|
.TIM_OCNPolarity = TIM_OCPolarity_High,
|
|
|
|
.TIM_OCIdleState = TIM_OCIdleState_Reset,
|
|
|
|
.TIM_OCNIdleState = TIM_OCNIdleState_Reset,
|
|
|
|
},
|
2011-08-13 05:23:16 +02:00
|
|
|
.channels = pios_tim_servoport_all_pins,
|
|
|
|
.num_channels = NELEMENTS(pios_tim_servoport_all_pins),
|
2011-01-21 04:40:21 +01:00
|
|
|
};
|
|
|
|
|
bootcfg: use UAVobj to control boot-time HW config
This should mark an end to the compile-time selection of HW
configurations.
Minor changes in board initialization for all platforms:
- Most config structs are marked static to prevent badly written
drivers from directly referring to config data.
- Adapt to changes in .irq fields in config data.
- Adapt to changes in USART IRQ handling.
Major changes in board initialization for CC:
- Use HwSettings UAVObj to decide which drivers to attach to
the "main" port and the flexi port, and select the appropriate
device configuration data.
- HwSettings allows choosing between Disabled, Telemetry, SBUS,
Spektrum,GPS, and I2C for each of the two ports.
- Use ManualControlSettings.InputMode to init/configure the
appropriate receiver module, and register its available rx channels
with the PIOS_RCVR layer. Can choose between PWM, Spektrum and PPM
at board init time. PPM driver is broken, and SBUS will work once
it is added to this UAVObj as an option.
- CC build now includes code for SBUS, Spektrum and PWM receivers in
every firmware image.
PIOS_USART driver:
- Now handles its own low-level IRQs internally
- If NULL upper-level IRQ handler is bound in at board init time
then rx/tx is satisfied by internal PIOS_USART buffered IO routines
which are (typically) attached to the COM layer.
- If an alternate upper-level IRQ handler is bound in at board init
then that handler is called and expected to clear down the USART
IRQ sources. This is used by Spektrum and SBUS drivers.
PIOS_SBUS and PIOS_SPEKTRUM drivers:
- Improved data/API hiding
- No longer assume they know where their config data is stored which
allows for boot-time alternate configurations for the driver.
- Now registers an upper-level IRQ handlerwith the USART layer to
decouple the driver from which USART it is actually attached to.
2011-07-06 02:21:00 +02:00
|
|
|
/*
|
|
|
|
* PPM Inputs
|
|
|
|
*/
|
|
|
|
#if defined(PIOS_INCLUDE_PPM)
|
|
|
|
#include <pios_ppm_priv.h>
|
2011-07-08 04:27:57 +02:00
|
|
|
|
|
|
|
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,
|
|
|
|
},
|
2011-08-13 05:23:16 +02:00
|
|
|
/* Use only the first channel for ppm */
|
|
|
|
.channels = &pios_tim_rcvrport_all_channels[0],
|
|
|
|
.num_channels = 1,
|
2011-07-08 04:27:57 +02:00
|
|
|
};
|
|
|
|
|
|
|
|
#endif /* PIOS_INCLUDE_PPM */
|
2011-01-24 08:51:45 +01:00
|
|
|
|
|
|
|
/*
|
|
|
|
* PWM Inputs
|
|
|
|
*/
|
2011-01-25 00:17:39 +01:00
|
|
|
#if defined(PIOS_INCLUDE_PWM)
|
2011-01-24 08:51:45 +01:00
|
|
|
#include <pios_pwm_priv.h>
|
2011-07-08 04:27:57 +02:00
|
|
|
|
2011-01-24 08:51:45 +01:00
|
|
|
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,
|
2011-08-13 05:23:16 +02:00
|
|
|
.TIM_ICFilter = 0x0,
|
2011-01-24 08:51:45 +01:00
|
|
|
},
|
2011-08-13 05:23:16 +02:00
|
|
|
.channels = pios_tim_rcvrport_all_channels,
|
|
|
|
.num_channels = NELEMENTS(pios_tim_rcvrport_all_channels),
|
2011-01-24 08:51:45 +01:00
|
|
|
};
|
2011-01-25 00:17:39 +01:00
|
|
|
#endif
|
2011-01-24 08:51:45 +01:00
|
|
|
|
2011-02-12 23:19:54 +01:00
|
|
|
#if defined(PIOS_INCLUDE_I2C)
|
|
|
|
|
|
|
|
#include <pios_i2c_priv.h>
|
|
|
|
|
2011-01-14 02:38:19 +01:00
|
|
|
/*
|
|
|
|
* I2C Adapters
|
|
|
|
*/
|
|
|
|
|
|
|
|
void PIOS_I2C_main_adapter_ev_irq_handler(void);
|
|
|
|
void PIOS_I2C_main_adapter_er_irq_handler(void);
|
|
|
|
void I2C2_EV_IRQHandler() __attribute__ ((alias ("PIOS_I2C_main_adapter_ev_irq_handler")));
|
|
|
|
void I2C2_ER_IRQHandler() __attribute__ ((alias ("PIOS_I2C_main_adapter_er_irq_handler")));
|
|
|
|
|
bootcfg: use UAVobj to control boot-time HW config
This should mark an end to the compile-time selection of HW
configurations.
Minor changes in board initialization for all platforms:
- Most config structs are marked static to prevent badly written
drivers from directly referring to config data.
- Adapt to changes in .irq fields in config data.
- Adapt to changes in USART IRQ handling.
Major changes in board initialization for CC:
- Use HwSettings UAVObj to decide which drivers to attach to
the "main" port and the flexi port, and select the appropriate
device configuration data.
- HwSettings allows choosing between Disabled, Telemetry, SBUS,
Spektrum,GPS, and I2C for each of the two ports.
- Use ManualControlSettings.InputMode to init/configure the
appropriate receiver module, and register its available rx channels
with the PIOS_RCVR layer. Can choose between PWM, Spektrum and PPM
at board init time. PPM driver is broken, and SBUS will work once
it is added to this UAVObj as an option.
- CC build now includes code for SBUS, Spektrum and PWM receivers in
every firmware image.
PIOS_USART driver:
- Now handles its own low-level IRQs internally
- If NULL upper-level IRQ handler is bound in at board init time
then rx/tx is satisfied by internal PIOS_USART buffered IO routines
which are (typically) attached to the COM layer.
- If an alternate upper-level IRQ handler is bound in at board init
then that handler is called and expected to clear down the USART
IRQ sources. This is used by Spektrum and SBUS drivers.
PIOS_SBUS and PIOS_SPEKTRUM drivers:
- Improved data/API hiding
- No longer assume they know where their config data is stored which
allows for boot-time alternate configurations for the driver.
- Now registers an upper-level IRQ handlerwith the USART layer to
decouple the driver from which USART it is actually attached to.
2011-07-06 02:21:00 +02:00
|
|
|
static const struct pios_i2c_adapter_cfg pios_i2c_main_adapter_cfg = {
|
2011-01-14 02:38:19 +01:00
|
|
|
.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,
|
|
|
|
},
|
|
|
|
},
|
|
|
|
};
|
|
|
|
|
2011-02-12 23:19:54 +01:00
|
|
|
uint32_t pios_i2c_main_adapter_id;
|
2011-01-14 02:38:19 +01:00
|
|
|
void PIOS_I2C_main_adapter_ev_irq_handler(void)
|
|
|
|
{
|
|
|
|
/* Call into the generic code to handle the IRQ for this specific device */
|
2011-02-12 23:19:54 +01:00
|
|
|
PIOS_I2C_EV_IRQ_Handler(pios_i2c_main_adapter_id);
|
2011-01-14 02:38:19 +01:00
|
|
|
}
|
|
|
|
|
|
|
|
void PIOS_I2C_main_adapter_er_irq_handler(void)
|
|
|
|
{
|
|
|
|
/* Call into the generic code to handle the IRQ for this specific device */
|
2011-02-12 23:19:54 +01:00
|
|
|
PIOS_I2C_ER_IRQ_Handler(pios_i2c_main_adapter_id);
|
2011-01-14 02:38:19 +01:00
|
|
|
}
|
|
|
|
|
2011-02-12 23:19:54 +01:00
|
|
|
#endif /* PIOS_INCLUDE_I2C */
|
|
|
|
|
2011-07-28 14:22:47 +02:00
|
|
|
#if defined(PIOS_INCLUDE_GCSRCVR)
|
|
|
|
#include "pios_gcsrcvr_priv.h"
|
|
|
|
#endif /* PIOS_INCLUDE_GCSRCVR */
|
|
|
|
|
2011-06-25 15:27:28 +02:00
|
|
|
#if defined(PIOS_INCLUDE_RCVR)
|
|
|
|
#include "pios_rcvr_priv.h"
|
|
|
|
|
2011-07-30 21:04:24 +02:00
|
|
|
/* One slot per selectable receiver group.
|
|
|
|
* eg. PWM, PPM, GCS, SPEKTRUM1, SPEKTRUM2, SBUS
|
|
|
|
* NOTE: No slot in this map for NONE.
|
|
|
|
*/
|
|
|
|
uint32_t pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE];
|
|
|
|
|
2011-06-25 15:27:28 +02:00
|
|
|
#endif /* PIOS_INCLUDE_RCVR */
|
|
|
|
|
2011-07-26 06:27:03 +02:00
|
|
|
#if defined(PIOS_INCLUDE_USB_HID)
|
|
|
|
#include "pios_usb_hid_priv.h"
|
|
|
|
|
|
|
|
static const struct pios_usb_hid_cfg pios_usb_hid_main_cfg = {
|
|
|
|
.irq = {
|
|
|
|
.init = {
|
|
|
|
.NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn,
|
|
|
|
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW,
|
|
|
|
.NVIC_IRQChannelSubPriority = 0,
|
|
|
|
.NVIC_IRQChannelCmd = ENABLE,
|
|
|
|
},
|
|
|
|
},
|
|
|
|
};
|
|
|
|
#endif /* PIOS_INCLUDE_USB_HID */
|
|
|
|
|
2011-02-12 23:19:43 +01:00
|
|
|
extern const struct pios_com_driver pios_usb_com_driver;
|
|
|
|
|
|
|
|
uint32_t pios_com_telem_rf_id;
|
|
|
|
uint32_t pios_com_telem_usb_id;
|
|
|
|
uint32_t pios_com_gps_id;
|
|
|
|
|
|
|
|
/**
|
|
|
|
* PIOS_Board_Init()
|
|
|
|
* initializes all the core subsystems on this specific hardware
|
|
|
|
* called from System/openpilot.c
|
|
|
|
*/
|
|
|
|
void PIOS_Board_Init(void) {
|
|
|
|
|
|
|
|
/* Delay system */
|
bootcfg: use UAVobj to control boot-time HW config
This should mark an end to the compile-time selection of HW
configurations.
Minor changes in board initialization for all platforms:
- Most config structs are marked static to prevent badly written
drivers from directly referring to config data.
- Adapt to changes in .irq fields in config data.
- Adapt to changes in USART IRQ handling.
Major changes in board initialization for CC:
- Use HwSettings UAVObj to decide which drivers to attach to
the "main" port and the flexi port, and select the appropriate
device configuration data.
- HwSettings allows choosing between Disabled, Telemetry, SBUS,
Spektrum,GPS, and I2C for each of the two ports.
- Use ManualControlSettings.InputMode to init/configure the
appropriate receiver module, and register its available rx channels
with the PIOS_RCVR layer. Can choose between PWM, Spektrum and PPM
at board init time. PPM driver is broken, and SBUS will work once
it is added to this UAVObj as an option.
- CC build now includes code for SBUS, Spektrum and PWM receivers in
every firmware image.
PIOS_USART driver:
- Now handles its own low-level IRQs internally
- If NULL upper-level IRQ handler is bound in at board init time
then rx/tx is satisfied by internal PIOS_USART buffered IO routines
which are (typically) attached to the COM layer.
- If an alternate upper-level IRQ handler is bound in at board init
then that handler is called and expected to clear down the USART
IRQ sources. This is used by Spektrum and SBUS drivers.
PIOS_SBUS and PIOS_SPEKTRUM drivers:
- Improved data/API hiding
- No longer assume they know where their config data is stored which
allows for boot-time alternate configurations for the driver.
- Now registers an upper-level IRQ handlerwith the USART layer to
decouple the driver from which USART it is actually attached to.
2011-07-06 02:21:00 +02:00
|
|
|
PIOS_DELAY_Init();
|
|
|
|
|
2011-02-12 23:19:50 +01:00
|
|
|
/* Set up the SPI interface to the serial flash */
|
|
|
|
if (PIOS_SPI_Init(&pios_spi_flash_accel_id, &pios_spi_flash_accel_cfg)) {
|
2011-07-07 04:34:59 +02:00
|
|
|
PIOS_Assert(0);
|
2011-02-12 23:19:50 +01:00
|
|
|
}
|
|
|
|
|
2011-05-14 21:23:02 +02:00
|
|
|
PIOS_Flash_W25X_Init(pios_spi_flash_accel_id);
|
2011-02-12 23:19:50 +01:00
|
|
|
PIOS_ADXL345_Attach(pios_spi_flash_accel_id);
|
bootcfg: use UAVobj to control boot-time HW config
This should mark an end to the compile-time selection of HW
configurations.
Minor changes in board initialization for all platforms:
- Most config structs are marked static to prevent badly written
drivers from directly referring to config data.
- Adapt to changes in .irq fields in config data.
- Adapt to changes in USART IRQ handling.
Major changes in board initialization for CC:
- Use HwSettings UAVObj to decide which drivers to attach to
the "main" port and the flexi port, and select the appropriate
device configuration data.
- HwSettings allows choosing between Disabled, Telemetry, SBUS,
Spektrum,GPS, and I2C for each of the two ports.
- Use ManualControlSettings.InputMode to init/configure the
appropriate receiver module, and register its available rx channels
with the PIOS_RCVR layer. Can choose between PWM, Spektrum and PPM
at board init time. PPM driver is broken, and SBUS will work once
it is added to this UAVObj as an option.
- CC build now includes code for SBUS, Spektrum and PWM receivers in
every firmware image.
PIOS_USART driver:
- Now handles its own low-level IRQs internally
- If NULL upper-level IRQ handler is bound in at board init time
then rx/tx is satisfied by internal PIOS_USART buffered IO routines
which are (typically) attached to the COM layer.
- If an alternate upper-level IRQ handler is bound in at board init
then that handler is called and expected to clear down the USART
IRQ sources. This is used by Spektrum and SBUS drivers.
PIOS_SBUS and PIOS_SPEKTRUM drivers:
- Improved data/API hiding
- No longer assume they know where their config data is stored which
allows for boot-time alternate configurations for the driver.
- Now registers an upper-level IRQ handlerwith the USART layer to
decouple the driver from which USART it is actually attached to.
2011-07-06 02:21:00 +02:00
|
|
|
|
2011-05-14 21:23:02 +02:00
|
|
|
PIOS_FLASHFS_Init();
|
2011-02-12 23:19:43 +01:00
|
|
|
|
|
|
|
/* Initialize UAVObject libraries */
|
|
|
|
EventDispatcherInitialize();
|
|
|
|
UAVObjInitialize();
|
|
|
|
|
2011-07-31 02:42:15 +02:00
|
|
|
HwSettingsInitialize();
|
|
|
|
|
2011-07-03 01:25:35 +02:00
|
|
|
#if defined(PIOS_INCLUDE_RTC)
|
|
|
|
/* Initialize the real-time clock and its associated tick */
|
|
|
|
PIOS_RTC_Init(&pios_rtc_main_cfg);
|
|
|
|
#endif
|
|
|
|
|
2011-02-12 23:19:43 +01:00
|
|
|
/* Initialize the alarms library */
|
|
|
|
AlarmsInitialize();
|
|
|
|
|
|
|
|
/* Initialize the task monitor library */
|
|
|
|
TaskMonitorInitialize();
|
|
|
|
|
2011-08-13 05:23:16 +02:00
|
|
|
/* Set up pulse timers */
|
|
|
|
PIOS_TIM_InitClock(&tim_1_cfg);
|
|
|
|
PIOS_TIM_InitClock(&tim_2_cfg);
|
|
|
|
PIOS_TIM_InitClock(&tim_3_cfg);
|
|
|
|
PIOS_TIM_InitClock(&tim_4_cfg);
|
|
|
|
|
bootcfg: use UAVobj to control boot-time HW config
This should mark an end to the compile-time selection of HW
configurations.
Minor changes in board initialization for all platforms:
- Most config structs are marked static to prevent badly written
drivers from directly referring to config data.
- Adapt to changes in .irq fields in config data.
- Adapt to changes in USART IRQ handling.
Major changes in board initialization for CC:
- Use HwSettings UAVObj to decide which drivers to attach to
the "main" port and the flexi port, and select the appropriate
device configuration data.
- HwSettings allows choosing between Disabled, Telemetry, SBUS,
Spektrum,GPS, and I2C for each of the two ports.
- Use ManualControlSettings.InputMode to init/configure the
appropriate receiver module, and register its available rx channels
with the PIOS_RCVR layer. Can choose between PWM, Spektrum and PPM
at board init time. PPM driver is broken, and SBUS will work once
it is added to this UAVObj as an option.
- CC build now includes code for SBUS, Spektrum and PWM receivers in
every firmware image.
PIOS_USART driver:
- Now handles its own low-level IRQs internally
- If NULL upper-level IRQ handler is bound in at board init time
then rx/tx is satisfied by internal PIOS_USART buffered IO routines
which are (typically) attached to the COM layer.
- If an alternate upper-level IRQ handler is bound in at board init
then that handler is called and expected to clear down the USART
IRQ sources. This is used by Spektrum and SBUS drivers.
PIOS_SBUS and PIOS_SPEKTRUM drivers:
- Improved data/API hiding
- No longer assume they know where their config data is stored which
allows for boot-time alternate configurations for the driver.
- Now registers an upper-level IRQ handlerwith the USART layer to
decouple the driver from which USART it is actually attached to.
2011-07-06 02:21:00 +02:00
|
|
|
/* Configure the main IO port */
|
2011-08-06 21:16:47 +02:00
|
|
|
uint8_t hwsettings_DSMxBind;
|
|
|
|
HwSettingsDSMxBindGet(&hwsettings_DSMxBind);
|
bootcfg: use UAVobj to control boot-time HW config
This should mark an end to the compile-time selection of HW
configurations.
Minor changes in board initialization for all platforms:
- Most config structs are marked static to prevent badly written
drivers from directly referring to config data.
- Adapt to changes in .irq fields in config data.
- Adapt to changes in USART IRQ handling.
Major changes in board initialization for CC:
- Use HwSettings UAVObj to decide which drivers to attach to
the "main" port and the flexi port, and select the appropriate
device configuration data.
- HwSettings allows choosing between Disabled, Telemetry, SBUS,
Spektrum,GPS, and I2C for each of the two ports.
- Use ManualControlSettings.InputMode to init/configure the
appropriate receiver module, and register its available rx channels
with the PIOS_RCVR layer. Can choose between PWM, Spektrum and PPM
at board init time. PPM driver is broken, and SBUS will work once
it is added to this UAVObj as an option.
- CC build now includes code for SBUS, Spektrum and PWM receivers in
every firmware image.
PIOS_USART driver:
- Now handles its own low-level IRQs internally
- If NULL upper-level IRQ handler is bound in at board init time
then rx/tx is satisfied by internal PIOS_USART buffered IO routines
which are (typically) attached to the COM layer.
- If an alternate upper-level IRQ handler is bound in at board init
then that handler is called and expected to clear down the USART
IRQ sources. This is used by Spektrum and SBUS drivers.
PIOS_SBUS and PIOS_SPEKTRUM drivers:
- Improved data/API hiding
- No longer assume they know where their config data is stored which
allows for boot-time alternate configurations for the driver.
- Now registers an upper-level IRQ handlerwith the USART layer to
decouple the driver from which USART it is actually attached to.
2011-07-06 02:21:00 +02:00
|
|
|
uint8_t hwsettings_cc_mainport;
|
|
|
|
HwSettingsCC_MainPortGet(&hwsettings_cc_mainport);
|
|
|
|
|
|
|
|
switch (hwsettings_cc_mainport) {
|
|
|
|
case HWSETTINGS_CC_MAINPORT_DISABLED:
|
|
|
|
break;
|
|
|
|
case HWSETTINGS_CC_MAINPORT_TELEMETRY:
|
2011-06-16 14:06:01 +02:00
|
|
|
#if defined(PIOS_INCLUDE_TELEMETRY_RF)
|
bootcfg: use UAVobj to control boot-time HW config
This should mark an end to the compile-time selection of HW
configurations.
Minor changes in board initialization for all platforms:
- Most config structs are marked static to prevent badly written
drivers from directly referring to config data.
- Adapt to changes in .irq fields in config data.
- Adapt to changes in USART IRQ handling.
Major changes in board initialization for CC:
- Use HwSettings UAVObj to decide which drivers to attach to
the "main" port and the flexi port, and select the appropriate
device configuration data.
- HwSettings allows choosing between Disabled, Telemetry, SBUS,
Spektrum,GPS, and I2C for each of the two ports.
- Use ManualControlSettings.InputMode to init/configure the
appropriate receiver module, and register its available rx channels
with the PIOS_RCVR layer. Can choose between PWM, Spektrum and PPM
at board init time. PPM driver is broken, and SBUS will work once
it is added to this UAVObj as an option.
- CC build now includes code for SBUS, Spektrum and PWM receivers in
every firmware image.
PIOS_USART driver:
- Now handles its own low-level IRQs internally
- If NULL upper-level IRQ handler is bound in at board init time
then rx/tx is satisfied by internal PIOS_USART buffered IO routines
which are (typically) attached to the COM layer.
- If an alternate upper-level IRQ handler is bound in at board init
then that handler is called and expected to clear down the USART
IRQ sources. This is used by Spektrum and SBUS drivers.
PIOS_SBUS and PIOS_SPEKTRUM drivers:
- Improved data/API hiding
- No longer assume they know where their config data is stored which
allows for boot-time alternate configurations for the driver.
- Now registers an upper-level IRQ handlerwith the USART layer to
decouple the driver from which USART it is actually attached to.
2011-07-06 02:21:00 +02:00
|
|
|
{
|
|
|
|
uint32_t pios_usart_telem_rf_id;
|
|
|
|
if (PIOS_USART_Init(&pios_usart_telem_rf_id, &pios_usart_telem_main_cfg)) {
|
|
|
|
PIOS_Assert(0);
|
|
|
|
}
|
2011-07-29 16:04:55 +02:00
|
|
|
|
|
|
|
uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_RF_RX_BUF_LEN);
|
|
|
|
uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_RF_TX_BUF_LEN);
|
|
|
|
PIOS_Assert(rx_buffer);
|
|
|
|
PIOS_Assert(tx_buffer);
|
|
|
|
if (PIOS_COM_Init(&pios_com_telem_rf_id, &pios_usart_com_driver, pios_usart_telem_rf_id,
|
|
|
|
rx_buffer, PIOS_COM_TELEM_RF_RX_BUF_LEN,
|
|
|
|
tx_buffer, PIOS_COM_TELEM_RF_TX_BUF_LEN)) {
|
bootcfg: use UAVobj to control boot-time HW config
This should mark an end to the compile-time selection of HW
configurations.
Minor changes in board initialization for all platforms:
- Most config structs are marked static to prevent badly written
drivers from directly referring to config data.
- Adapt to changes in .irq fields in config data.
- Adapt to changes in USART IRQ handling.
Major changes in board initialization for CC:
- Use HwSettings UAVObj to decide which drivers to attach to
the "main" port and the flexi port, and select the appropriate
device configuration data.
- HwSettings allows choosing between Disabled, Telemetry, SBUS,
Spektrum,GPS, and I2C for each of the two ports.
- Use ManualControlSettings.InputMode to init/configure the
appropriate receiver module, and register its available rx channels
with the PIOS_RCVR layer. Can choose between PWM, Spektrum and PPM
at board init time. PPM driver is broken, and SBUS will work once
it is added to this UAVObj as an option.
- CC build now includes code for SBUS, Spektrum and PWM receivers in
every firmware image.
PIOS_USART driver:
- Now handles its own low-level IRQs internally
- If NULL upper-level IRQ handler is bound in at board init time
then rx/tx is satisfied by internal PIOS_USART buffered IO routines
which are (typically) attached to the COM layer.
- If an alternate upper-level IRQ handler is bound in at board init
then that handler is called and expected to clear down the USART
IRQ sources. This is used by Spektrum and SBUS drivers.
PIOS_SBUS and PIOS_SPEKTRUM drivers:
- Improved data/API hiding
- No longer assume they know where their config data is stored which
allows for boot-time alternate configurations for the driver.
- Now registers an upper-level IRQ handlerwith the USART layer to
decouple the driver from which USART it is actually attached to.
2011-07-06 02:21:00 +02:00
|
|
|
PIOS_Assert(0);
|
|
|
|
}
|
|
|
|
}
|
|
|
|
#endif /* PIOS_INCLUDE_TELEMETRY_RF */
|
|
|
|
break;
|
|
|
|
case HWSETTINGS_CC_MAINPORT_SBUS:
|
|
|
|
#if defined(PIOS_INCLUDE_SBUS)
|
|
|
|
{
|
|
|
|
uint32_t pios_usart_sbus_id;
|
|
|
|
if (PIOS_USART_Init(&pios_usart_sbus_id, &pios_usart_sbus_main_cfg)) {
|
|
|
|
PIOS_Assert(0);
|
|
|
|
}
|
2011-07-26 06:27:03 +02:00
|
|
|
|
|
|
|
uint32_t pios_sbus_id;
|
|
|
|
if (PIOS_SBUS_Init(&pios_sbus_id, &pios_sbus_cfg, &pios_usart_com_driver, pios_usart_sbus_id)) {
|
|
|
|
PIOS_Assert(0);
|
|
|
|
}
|
bootcfg: use UAVobj to control boot-time HW config
This should mark an end to the compile-time selection of HW
configurations.
Minor changes in board initialization for all platforms:
- Most config structs are marked static to prevent badly written
drivers from directly referring to config data.
- Adapt to changes in .irq fields in config data.
- Adapt to changes in USART IRQ handling.
Major changes in board initialization for CC:
- Use HwSettings UAVObj to decide which drivers to attach to
the "main" port and the flexi port, and select the appropriate
device configuration data.
- HwSettings allows choosing between Disabled, Telemetry, SBUS,
Spektrum,GPS, and I2C for each of the two ports.
- Use ManualControlSettings.InputMode to init/configure the
appropriate receiver module, and register its available rx channels
with the PIOS_RCVR layer. Can choose between PWM, Spektrum and PPM
at board init time. PPM driver is broken, and SBUS will work once
it is added to this UAVObj as an option.
- CC build now includes code for SBUS, Spektrum and PWM receivers in
every firmware image.
PIOS_USART driver:
- Now handles its own low-level IRQs internally
- If NULL upper-level IRQ handler is bound in at board init time
then rx/tx is satisfied by internal PIOS_USART buffered IO routines
which are (typically) attached to the COM layer.
- If an alternate upper-level IRQ handler is bound in at board init
then that handler is called and expected to clear down the USART
IRQ sources. This is used by Spektrum and SBUS drivers.
PIOS_SBUS and PIOS_SPEKTRUM drivers:
- Improved data/API hiding
- No longer assume they know where their config data is stored which
allows for boot-time alternate configurations for the driver.
- Now registers an upper-level IRQ handlerwith the USART layer to
decouple the driver from which USART it is actually attached to.
2011-07-06 02:21:00 +02:00
|
|
|
}
|
|
|
|
#endif /* PIOS_INCLUDE_SBUS */
|
|
|
|
break;
|
|
|
|
case HWSETTINGS_CC_MAINPORT_GPS:
|
2011-02-12 23:19:43 +01:00
|
|
|
#if defined(PIOS_INCLUDE_GPS)
|
bootcfg: use UAVobj to control boot-time HW config
This should mark an end to the compile-time selection of HW
configurations.
Minor changes in board initialization for all platforms:
- Most config structs are marked static to prevent badly written
drivers from directly referring to config data.
- Adapt to changes in .irq fields in config data.
- Adapt to changes in USART IRQ handling.
Major changes in board initialization for CC:
- Use HwSettings UAVObj to decide which drivers to attach to
the "main" port and the flexi port, and select the appropriate
device configuration data.
- HwSettings allows choosing between Disabled, Telemetry, SBUS,
Spektrum,GPS, and I2C for each of the two ports.
- Use ManualControlSettings.InputMode to init/configure the
appropriate receiver module, and register its available rx channels
with the PIOS_RCVR layer. Can choose between PWM, Spektrum and PPM
at board init time. PPM driver is broken, and SBUS will work once
it is added to this UAVObj as an option.
- CC build now includes code for SBUS, Spektrum and PWM receivers in
every firmware image.
PIOS_USART driver:
- Now handles its own low-level IRQs internally
- If NULL upper-level IRQ handler is bound in at board init time
then rx/tx is satisfied by internal PIOS_USART buffered IO routines
which are (typically) attached to the COM layer.
- If an alternate upper-level IRQ handler is bound in at board init
then that handler is called and expected to clear down the USART
IRQ sources. This is used by Spektrum and SBUS drivers.
PIOS_SBUS and PIOS_SPEKTRUM drivers:
- Improved data/API hiding
- No longer assume they know where their config data is stored which
allows for boot-time alternate configurations for the driver.
- Now registers an upper-level IRQ handlerwith the USART layer to
decouple the driver from which USART it is actually attached to.
2011-07-06 02:21:00 +02:00
|
|
|
{
|
|
|
|
uint32_t pios_usart_gps_id;
|
|
|
|
if (PIOS_USART_Init(&pios_usart_gps_id, &pios_usart_gps_main_cfg)) {
|
|
|
|
PIOS_Assert(0);
|
|
|
|
}
|
2011-07-29 16:04:55 +02:00
|
|
|
|
|
|
|
uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_GPS_RX_BUF_LEN);
|
|
|
|
PIOS_Assert(rx_buffer);
|
|
|
|
if (PIOS_COM_Init(&pios_com_gps_id, &pios_usart_com_driver, pios_usart_gps_id,
|
|
|
|
rx_buffer, PIOS_COM_GPS_RX_BUF_LEN,
|
|
|
|
NULL, 0)) {
|
bootcfg: use UAVobj to control boot-time HW config
This should mark an end to the compile-time selection of HW
configurations.
Minor changes in board initialization for all platforms:
- Most config structs are marked static to prevent badly written
drivers from directly referring to config data.
- Adapt to changes in .irq fields in config data.
- Adapt to changes in USART IRQ handling.
Major changes in board initialization for CC:
- Use HwSettings UAVObj to decide which drivers to attach to
the "main" port and the flexi port, and select the appropriate
device configuration data.
- HwSettings allows choosing between Disabled, Telemetry, SBUS,
Spektrum,GPS, and I2C for each of the two ports.
- Use ManualControlSettings.InputMode to init/configure the
appropriate receiver module, and register its available rx channels
with the PIOS_RCVR layer. Can choose between PWM, Spektrum and PPM
at board init time. PPM driver is broken, and SBUS will work once
it is added to this UAVObj as an option.
- CC build now includes code for SBUS, Spektrum and PWM receivers in
every firmware image.
PIOS_USART driver:
- Now handles its own low-level IRQs internally
- If NULL upper-level IRQ handler is bound in at board init time
then rx/tx is satisfied by internal PIOS_USART buffered IO routines
which are (typically) attached to the COM layer.
- If an alternate upper-level IRQ handler is bound in at board init
then that handler is called and expected to clear down the USART
IRQ sources. This is used by Spektrum and SBUS drivers.
PIOS_SBUS and PIOS_SPEKTRUM drivers:
- Improved data/API hiding
- No longer assume they know where their config data is stored which
allows for boot-time alternate configurations for the driver.
- Now registers an upper-level IRQ handlerwith the USART layer to
decouple the driver from which USART it is actually attached to.
2011-07-06 02:21:00 +02:00
|
|
|
PIOS_Assert(0);
|
|
|
|
}
|
|
|
|
}
|
2011-02-12 23:19:43 +01:00
|
|
|
#endif /* PIOS_INCLUDE_GPS */
|
bootcfg: use UAVobj to control boot-time HW config
This should mark an end to the compile-time selection of HW
configurations.
Minor changes in board initialization for all platforms:
- Most config structs are marked static to prevent badly written
drivers from directly referring to config data.
- Adapt to changes in .irq fields in config data.
- Adapt to changes in USART IRQ handling.
Major changes in board initialization for CC:
- Use HwSettings UAVObj to decide which drivers to attach to
the "main" port and the flexi port, and select the appropriate
device configuration data.
- HwSettings allows choosing between Disabled, Telemetry, SBUS,
Spektrum,GPS, and I2C for each of the two ports.
- Use ManualControlSettings.InputMode to init/configure the
appropriate receiver module, and register its available rx channels
with the PIOS_RCVR layer. Can choose between PWM, Spektrum and PPM
at board init time. PPM driver is broken, and SBUS will work once
it is added to this UAVObj as an option.
- CC build now includes code for SBUS, Spektrum and PWM receivers in
every firmware image.
PIOS_USART driver:
- Now handles its own low-level IRQs internally
- If NULL upper-level IRQ handler is bound in at board init time
then rx/tx is satisfied by internal PIOS_USART buffered IO routines
which are (typically) attached to the COM layer.
- If an alternate upper-level IRQ handler is bound in at board init
then that handler is called and expected to clear down the USART
IRQ sources. This is used by Spektrum and SBUS drivers.
PIOS_SBUS and PIOS_SPEKTRUM drivers:
- Improved data/API hiding
- No longer assume they know where their config data is stored which
allows for boot-time alternate configurations for the driver.
- Now registers an upper-level IRQ handlerwith the USART layer to
decouple the driver from which USART it is actually attached to.
2011-07-06 02:21:00 +02:00
|
|
|
break;
|
2011-07-30 21:04:24 +02:00
|
|
|
case HWSETTINGS_CC_MAINPORT_SPEKTRUM1:
|
|
|
|
case HWSETTINGS_CC_MAINPORT_SPEKTRUM2:
|
2011-06-25 15:27:28 +02:00
|
|
|
#if defined(PIOS_INCLUDE_SPEKTRUM)
|
bootcfg: use UAVobj to control boot-time HW config
This should mark an end to the compile-time selection of HW
configurations.
Minor changes in board initialization for all platforms:
- Most config structs are marked static to prevent badly written
drivers from directly referring to config data.
- Adapt to changes in .irq fields in config data.
- Adapt to changes in USART IRQ handling.
Major changes in board initialization for CC:
- Use HwSettings UAVObj to decide which drivers to attach to
the "main" port and the flexi port, and select the appropriate
device configuration data.
- HwSettings allows choosing between Disabled, Telemetry, SBUS,
Spektrum,GPS, and I2C for each of the two ports.
- Use ManualControlSettings.InputMode to init/configure the
appropriate receiver module, and register its available rx channels
with the PIOS_RCVR layer. Can choose between PWM, Spektrum and PPM
at board init time. PPM driver is broken, and SBUS will work once
it is added to this UAVObj as an option.
- CC build now includes code for SBUS, Spektrum and PWM receivers in
every firmware image.
PIOS_USART driver:
- Now handles its own low-level IRQs internally
- If NULL upper-level IRQ handler is bound in at board init time
then rx/tx is satisfied by internal PIOS_USART buffered IO routines
which are (typically) attached to the COM layer.
- If an alternate upper-level IRQ handler is bound in at board init
then that handler is called and expected to clear down the USART
IRQ sources. This is used by Spektrum and SBUS drivers.
PIOS_SBUS and PIOS_SPEKTRUM drivers:
- Improved data/API hiding
- No longer assume they know where their config data is stored which
allows for boot-time alternate configurations for the driver.
- Now registers an upper-level IRQ handlerwith the USART layer to
decouple the driver from which USART it is actually attached to.
2011-07-06 02:21:00 +02:00
|
|
|
{
|
|
|
|
uint32_t pios_usart_spektrum_id;
|
|
|
|
if (PIOS_USART_Init(&pios_usart_spektrum_id, &pios_usart_spektrum_main_cfg)) {
|
|
|
|
PIOS_Assert(0);
|
|
|
|
}
|
2011-07-26 06:27:03 +02:00
|
|
|
|
|
|
|
uint32_t pios_spektrum_id;
|
2011-08-06 21:16:47 +02:00
|
|
|
if (PIOS_SPEKTRUM_Init(&pios_spektrum_id, &pios_spektrum_main_cfg, &pios_usart_com_driver, pios_usart_spektrum_id, 0)) {
|
2011-07-26 06:27:03 +02:00
|
|
|
PIOS_Assert(0);
|
|
|
|
}
|
2011-07-30 21:04:24 +02:00
|
|
|
|
|
|
|
uint32_t pios_spektrum_rcvr_id;
|
|
|
|
if (PIOS_RCVR_Init(&pios_spektrum_rcvr_id, &pios_spektrum_rcvr_driver, pios_spektrum_id)) {
|
|
|
|
PIOS_Assert(0);
|
|
|
|
}
|
|
|
|
if (hwsettings_cc_mainport == HWSETTINGS_CC_MAINPORT_SPEKTRUM1) {
|
|
|
|
pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_SPEKTRUM1] = pios_spektrum_rcvr_id;
|
|
|
|
} else {
|
|
|
|
pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_SPEKTRUM2] = pios_spektrum_rcvr_id;
|
|
|
|
}
|
2011-06-25 15:27:28 +02:00
|
|
|
}
|
bootcfg: use UAVobj to control boot-time HW config
This should mark an end to the compile-time selection of HW
configurations.
Minor changes in board initialization for all platforms:
- Most config structs are marked static to prevent badly written
drivers from directly referring to config data.
- Adapt to changes in .irq fields in config data.
- Adapt to changes in USART IRQ handling.
Major changes in board initialization for CC:
- Use HwSettings UAVObj to decide which drivers to attach to
the "main" port and the flexi port, and select the appropriate
device configuration data.
- HwSettings allows choosing between Disabled, Telemetry, SBUS,
Spektrum,GPS, and I2C for each of the two ports.
- Use ManualControlSettings.InputMode to init/configure the
appropriate receiver module, and register its available rx channels
with the PIOS_RCVR layer. Can choose between PWM, Spektrum and PPM
at board init time. PPM driver is broken, and SBUS will work once
it is added to this UAVObj as an option.
- CC build now includes code for SBUS, Spektrum and PWM receivers in
every firmware image.
PIOS_USART driver:
- Now handles its own low-level IRQs internally
- If NULL upper-level IRQ handler is bound in at board init time
then rx/tx is satisfied by internal PIOS_USART buffered IO routines
which are (typically) attached to the COM layer.
- If an alternate upper-level IRQ handler is bound in at board init
then that handler is called and expected to clear down the USART
IRQ sources. This is used by Spektrum and SBUS drivers.
PIOS_SBUS and PIOS_SPEKTRUM drivers:
- Improved data/API hiding
- No longer assume they know where their config data is stored which
allows for boot-time alternate configurations for the driver.
- Now registers an upper-level IRQ handlerwith the USART layer to
decouple the driver from which USART it is actually attached to.
2011-07-06 02:21:00 +02:00
|
|
|
#endif /* PIOS_INCLUDE_SPEKTRUM */
|
|
|
|
break;
|
|
|
|
case HWSETTINGS_CC_MAINPORT_COMAUX:
|
|
|
|
break;
|
2011-06-25 15:27:28 +02:00
|
|
|
}
|
2011-06-19 13:30:13 +02:00
|
|
|
|
bootcfg: use UAVobj to control boot-time HW config
This should mark an end to the compile-time selection of HW
configurations.
Minor changes in board initialization for all platforms:
- Most config structs are marked static to prevent badly written
drivers from directly referring to config data.
- Adapt to changes in .irq fields in config data.
- Adapt to changes in USART IRQ handling.
Major changes in board initialization for CC:
- Use HwSettings UAVObj to decide which drivers to attach to
the "main" port and the flexi port, and select the appropriate
device configuration data.
- HwSettings allows choosing between Disabled, Telemetry, SBUS,
Spektrum,GPS, and I2C for each of the two ports.
- Use ManualControlSettings.InputMode to init/configure the
appropriate receiver module, and register its available rx channels
with the PIOS_RCVR layer. Can choose between PWM, Spektrum and PPM
at board init time. PPM driver is broken, and SBUS will work once
it is added to this UAVObj as an option.
- CC build now includes code for SBUS, Spektrum and PWM receivers in
every firmware image.
PIOS_USART driver:
- Now handles its own low-level IRQs internally
- If NULL upper-level IRQ handler is bound in at board init time
then rx/tx is satisfied by internal PIOS_USART buffered IO routines
which are (typically) attached to the COM layer.
- If an alternate upper-level IRQ handler is bound in at board init
then that handler is called and expected to clear down the USART
IRQ sources. This is used by Spektrum and SBUS drivers.
PIOS_SBUS and PIOS_SPEKTRUM drivers:
- Improved data/API hiding
- No longer assume they know where their config data is stored which
allows for boot-time alternate configurations for the driver.
- Now registers an upper-level IRQ handlerwith the USART layer to
decouple the driver from which USART it is actually attached to.
2011-07-06 02:21:00 +02:00
|
|
|
/* Configure the flexi port */
|
|
|
|
uint8_t hwsettings_cc_flexiport;
|
|
|
|
HwSettingsCC_FlexiPortGet(&hwsettings_cc_flexiport);
|
|
|
|
|
|
|
|
switch (hwsettings_cc_flexiport) {
|
|
|
|
case HWSETTINGS_CC_FLEXIPORT_DISABLED:
|
|
|
|
break;
|
|
|
|
case HWSETTINGS_CC_FLEXIPORT_TELEMETRY:
|
|
|
|
#if defined(PIOS_INCLUDE_TELEMETRY_RF)
|
|
|
|
{
|
|
|
|
uint32_t pios_usart_telem_rf_id;
|
|
|
|
if (PIOS_USART_Init(&pios_usart_telem_rf_id, &pios_usart_telem_flexi_cfg)) {
|
|
|
|
PIOS_Assert(0);
|
|
|
|
}
|
2011-07-29 16:04:55 +02:00
|
|
|
uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_RF_RX_BUF_LEN);
|
|
|
|
uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_RF_TX_BUF_LEN);
|
|
|
|
PIOS_Assert(rx_buffer);
|
|
|
|
PIOS_Assert(tx_buffer);
|
|
|
|
if (PIOS_COM_Init(&pios_com_telem_rf_id, &pios_usart_com_driver, pios_usart_telem_rf_id,
|
|
|
|
rx_buffer, PIOS_COM_TELEM_RF_RX_BUF_LEN,
|
|
|
|
tx_buffer, PIOS_COM_TELEM_RF_TX_BUF_LEN)) {
|
bootcfg: use UAVobj to control boot-time HW config
This should mark an end to the compile-time selection of HW
configurations.
Minor changes in board initialization for all platforms:
- Most config structs are marked static to prevent badly written
drivers from directly referring to config data.
- Adapt to changes in .irq fields in config data.
- Adapt to changes in USART IRQ handling.
Major changes in board initialization for CC:
- Use HwSettings UAVObj to decide which drivers to attach to
the "main" port and the flexi port, and select the appropriate
device configuration data.
- HwSettings allows choosing between Disabled, Telemetry, SBUS,
Spektrum,GPS, and I2C for each of the two ports.
- Use ManualControlSettings.InputMode to init/configure the
appropriate receiver module, and register its available rx channels
with the PIOS_RCVR layer. Can choose between PWM, Spektrum and PPM
at board init time. PPM driver is broken, and SBUS will work once
it is added to this UAVObj as an option.
- CC build now includes code for SBUS, Spektrum and PWM receivers in
every firmware image.
PIOS_USART driver:
- Now handles its own low-level IRQs internally
- If NULL upper-level IRQ handler is bound in at board init time
then rx/tx is satisfied by internal PIOS_USART buffered IO routines
which are (typically) attached to the COM layer.
- If an alternate upper-level IRQ handler is bound in at board init
then that handler is called and expected to clear down the USART
IRQ sources. This is used by Spektrum and SBUS drivers.
PIOS_SBUS and PIOS_SPEKTRUM drivers:
- Improved data/API hiding
- No longer assume they know where their config data is stored which
allows for boot-time alternate configurations for the driver.
- Now registers an upper-level IRQ handlerwith the USART layer to
decouple the driver from which USART it is actually attached to.
2011-07-06 02:21:00 +02:00
|
|
|
PIOS_Assert(0);
|
|
|
|
}
|
|
|
|
}
|
|
|
|
#endif /* PIOS_INCLUDE_TELEMETRY_RF */
|
|
|
|
break;
|
|
|
|
case HWSETTINGS_CC_FLEXIPORT_GPS:
|
|
|
|
#if defined(PIOS_INCLUDE_GPS)
|
|
|
|
{
|
|
|
|
uint32_t pios_usart_gps_id;
|
|
|
|
if (PIOS_USART_Init(&pios_usart_gps_id, &pios_usart_gps_flexi_cfg)) {
|
|
|
|
PIOS_Assert(0);
|
|
|
|
}
|
2011-07-29 16:04:55 +02:00
|
|
|
uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_GPS_RX_BUF_LEN);
|
|
|
|
PIOS_Assert(rx_buffer);
|
|
|
|
if (PIOS_COM_Init(&pios_com_gps_id, &pios_usart_com_driver, pios_usart_gps_id,
|
|
|
|
rx_buffer, PIOS_COM_GPS_RX_BUF_LEN,
|
|
|
|
NULL, 0)) {
|
bootcfg: use UAVobj to control boot-time HW config
This should mark an end to the compile-time selection of HW
configurations.
Minor changes in board initialization for all platforms:
- Most config structs are marked static to prevent badly written
drivers from directly referring to config data.
- Adapt to changes in .irq fields in config data.
- Adapt to changes in USART IRQ handling.
Major changes in board initialization for CC:
- Use HwSettings UAVObj to decide which drivers to attach to
the "main" port and the flexi port, and select the appropriate
device configuration data.
- HwSettings allows choosing between Disabled, Telemetry, SBUS,
Spektrum,GPS, and I2C for each of the two ports.
- Use ManualControlSettings.InputMode to init/configure the
appropriate receiver module, and register its available rx channels
with the PIOS_RCVR layer. Can choose between PWM, Spektrum and PPM
at board init time. PPM driver is broken, and SBUS will work once
it is added to this UAVObj as an option.
- CC build now includes code for SBUS, Spektrum and PWM receivers in
every firmware image.
PIOS_USART driver:
- Now handles its own low-level IRQs internally
- If NULL upper-level IRQ handler is bound in at board init time
then rx/tx is satisfied by internal PIOS_USART buffered IO routines
which are (typically) attached to the COM layer.
- If an alternate upper-level IRQ handler is bound in at board init
then that handler is called and expected to clear down the USART
IRQ sources. This is used by Spektrum and SBUS drivers.
PIOS_SBUS and PIOS_SPEKTRUM drivers:
- Improved data/API hiding
- No longer assume they know where their config data is stored which
allows for boot-time alternate configurations for the driver.
- Now registers an upper-level IRQ handlerwith the USART layer to
decouple the driver from which USART it is actually attached to.
2011-07-06 02:21:00 +02:00
|
|
|
PIOS_Assert(0);
|
|
|
|
}
|
|
|
|
}
|
|
|
|
#endif /* PIOS_INCLUDE_GPS */
|
|
|
|
break;
|
2011-07-30 21:04:24 +02:00
|
|
|
case HWSETTINGS_CC_FLEXIPORT_SPEKTRUM1:
|
|
|
|
case HWSETTINGS_CC_FLEXIPORT_SPEKTRUM2:
|
bootcfg: use UAVobj to control boot-time HW config
This should mark an end to the compile-time selection of HW
configurations.
Minor changes in board initialization for all platforms:
- Most config structs are marked static to prevent badly written
drivers from directly referring to config data.
- Adapt to changes in .irq fields in config data.
- Adapt to changes in USART IRQ handling.
Major changes in board initialization for CC:
- Use HwSettings UAVObj to decide which drivers to attach to
the "main" port and the flexi port, and select the appropriate
device configuration data.
- HwSettings allows choosing between Disabled, Telemetry, SBUS,
Spektrum,GPS, and I2C for each of the two ports.
- Use ManualControlSettings.InputMode to init/configure the
appropriate receiver module, and register its available rx channels
with the PIOS_RCVR layer. Can choose between PWM, Spektrum and PPM
at board init time. PPM driver is broken, and SBUS will work once
it is added to this UAVObj as an option.
- CC build now includes code for SBUS, Spektrum and PWM receivers in
every firmware image.
PIOS_USART driver:
- Now handles its own low-level IRQs internally
- If NULL upper-level IRQ handler is bound in at board init time
then rx/tx is satisfied by internal PIOS_USART buffered IO routines
which are (typically) attached to the COM layer.
- If an alternate upper-level IRQ handler is bound in at board init
then that handler is called and expected to clear down the USART
IRQ sources. This is used by Spektrum and SBUS drivers.
PIOS_SBUS and PIOS_SPEKTRUM drivers:
- Improved data/API hiding
- No longer assume they know where their config data is stored which
allows for boot-time alternate configurations for the driver.
- Now registers an upper-level IRQ handlerwith the USART layer to
decouple the driver from which USART it is actually attached to.
2011-07-06 02:21:00 +02:00
|
|
|
#if defined(PIOS_INCLUDE_SPEKTRUM)
|
|
|
|
{
|
|
|
|
uint32_t pios_usart_spektrum_id;
|
|
|
|
if (PIOS_USART_Init(&pios_usart_spektrum_id, &pios_usart_spektrum_flexi_cfg)) {
|
|
|
|
PIOS_Assert(0);
|
|
|
|
}
|
2011-07-26 06:27:03 +02:00
|
|
|
|
|
|
|
uint32_t pios_spektrum_id;
|
2011-08-06 21:16:47 +02:00
|
|
|
if (PIOS_SPEKTRUM_Init(&pios_spektrum_id, &pios_spektrum_flexi_cfg, &pios_usart_com_driver, pios_usart_spektrum_id, hwsettings_DSMxBind)) {
|
2011-07-26 06:27:03 +02:00
|
|
|
PIOS_Assert(0);
|
|
|
|
}
|
2011-07-30 21:04:24 +02:00
|
|
|
|
|
|
|
uint32_t pios_spektrum_rcvr_id;
|
|
|
|
if (PIOS_RCVR_Init(&pios_spektrum_rcvr_id, &pios_spektrum_rcvr_driver, pios_spektrum_id)) {
|
|
|
|
PIOS_Assert(0);
|
|
|
|
}
|
|
|
|
if (hwsettings_cc_flexiport == HWSETTINGS_CC_FLEXIPORT_SPEKTRUM1) {
|
|
|
|
pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_SPEKTRUM1] = pios_spektrum_rcvr_id;
|
|
|
|
} else {
|
|
|
|
pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_SPEKTRUM2] = pios_spektrum_rcvr_id;
|
|
|
|
}
|
bootcfg: use UAVobj to control boot-time HW config
This should mark an end to the compile-time selection of HW
configurations.
Minor changes in board initialization for all platforms:
- Most config structs are marked static to prevent badly written
drivers from directly referring to config data.
- Adapt to changes in .irq fields in config data.
- Adapt to changes in USART IRQ handling.
Major changes in board initialization for CC:
- Use HwSettings UAVObj to decide which drivers to attach to
the "main" port and the flexi port, and select the appropriate
device configuration data.
- HwSettings allows choosing between Disabled, Telemetry, SBUS,
Spektrum,GPS, and I2C for each of the two ports.
- Use ManualControlSettings.InputMode to init/configure the
appropriate receiver module, and register its available rx channels
with the PIOS_RCVR layer. Can choose between PWM, Spektrum and PPM
at board init time. PPM driver is broken, and SBUS will work once
it is added to this UAVObj as an option.
- CC build now includes code for SBUS, Spektrum and PWM receivers in
every firmware image.
PIOS_USART driver:
- Now handles its own low-level IRQs internally
- If NULL upper-level IRQ handler is bound in at board init time
then rx/tx is satisfied by internal PIOS_USART buffered IO routines
which are (typically) attached to the COM layer.
- If an alternate upper-level IRQ handler is bound in at board init
then that handler is called and expected to clear down the USART
IRQ sources. This is used by Spektrum and SBUS drivers.
PIOS_SBUS and PIOS_SPEKTRUM drivers:
- Improved data/API hiding
- No longer assume they know where their config data is stored which
allows for boot-time alternate configurations for the driver.
- Now registers an upper-level IRQ handlerwith the USART layer to
decouple the driver from which USART it is actually attached to.
2011-07-06 02:21:00 +02:00
|
|
|
}
|
|
|
|
#endif /* PIOS_INCLUDE_SPEKTRUM */
|
|
|
|
break;
|
|
|
|
case HWSETTINGS_CC_FLEXIPORT_COMAUX:
|
|
|
|
break;
|
|
|
|
case HWSETTINGS_CC_FLEXIPORT_I2C:
|
|
|
|
#if defined(PIOS_INCLUDE_I2C)
|
|
|
|
{
|
|
|
|
if (PIOS_I2C_Init(&pios_i2c_main_adapter_id, &pios_i2c_main_adapter_cfg)) {
|
|
|
|
PIOS_Assert(0);
|
|
|
|
}
|
2011-06-25 15:27:28 +02:00
|
|
|
}
|
bootcfg: use UAVobj to control boot-time HW config
This should mark an end to the compile-time selection of HW
configurations.
Minor changes in board initialization for all platforms:
- Most config structs are marked static to prevent badly written
drivers from directly referring to config data.
- Adapt to changes in .irq fields in config data.
- Adapt to changes in USART IRQ handling.
Major changes in board initialization for CC:
- Use HwSettings UAVObj to decide which drivers to attach to
the "main" port and the flexi port, and select the appropriate
device configuration data.
- HwSettings allows choosing between Disabled, Telemetry, SBUS,
Spektrum,GPS, and I2C for each of the two ports.
- Use ManualControlSettings.InputMode to init/configure the
appropriate receiver module, and register its available rx channels
with the PIOS_RCVR layer. Can choose between PWM, Spektrum and PPM
at board init time. PPM driver is broken, and SBUS will work once
it is added to this UAVObj as an option.
- CC build now includes code for SBUS, Spektrum and PWM receivers in
every firmware image.
PIOS_USART driver:
- Now handles its own low-level IRQs internally
- If NULL upper-level IRQ handler is bound in at board init time
then rx/tx is satisfied by internal PIOS_USART buffered IO routines
which are (typically) attached to the COM layer.
- If an alternate upper-level IRQ handler is bound in at board init
then that handler is called and expected to clear down the USART
IRQ sources. This is used by Spektrum and SBUS drivers.
PIOS_SBUS and PIOS_SPEKTRUM drivers:
- Improved data/API hiding
- No longer assume they know where their config data is stored which
allows for boot-time alternate configurations for the driver.
- Now registers an upper-level IRQ handlerwith the USART layer to
decouple the driver from which USART it is actually attached to.
2011-07-06 02:21:00 +02:00
|
|
|
#endif /* PIOS_INCLUDE_I2C */
|
|
|
|
break;
|
2011-06-25 15:27:28 +02:00
|
|
|
}
|
|
|
|
|
2011-07-30 21:04:24 +02:00
|
|
|
/* Configure the rcvr port */
|
|
|
|
uint8_t hwsettings_rcvrport;
|
|
|
|
HwSettingsRcvrPortGet(&hwsettings_rcvrport);
|
bootcfg: use UAVobj to control boot-time HW config
This should mark an end to the compile-time selection of HW
configurations.
Minor changes in board initialization for all platforms:
- Most config structs are marked static to prevent badly written
drivers from directly referring to config data.
- Adapt to changes in .irq fields in config data.
- Adapt to changes in USART IRQ handling.
Major changes in board initialization for CC:
- Use HwSettings UAVObj to decide which drivers to attach to
the "main" port and the flexi port, and select the appropriate
device configuration data.
- HwSettings allows choosing between Disabled, Telemetry, SBUS,
Spektrum,GPS, and I2C for each of the two ports.
- Use ManualControlSettings.InputMode to init/configure the
appropriate receiver module, and register its available rx channels
with the PIOS_RCVR layer. Can choose between PWM, Spektrum and PPM
at board init time. PPM driver is broken, and SBUS will work once
it is added to this UAVObj as an option.
- CC build now includes code for SBUS, Spektrum and PWM receivers in
every firmware image.
PIOS_USART driver:
- Now handles its own low-level IRQs internally
- If NULL upper-level IRQ handler is bound in at board init time
then rx/tx is satisfied by internal PIOS_USART buffered IO routines
which are (typically) attached to the COM layer.
- If an alternate upper-level IRQ handler is bound in at board init
then that handler is called and expected to clear down the USART
IRQ sources. This is used by Spektrum and SBUS drivers.
PIOS_SBUS and PIOS_SPEKTRUM drivers:
- Improved data/API hiding
- No longer assume they know where their config data is stored which
allows for boot-time alternate configurations for the driver.
- Now registers an upper-level IRQ handlerwith the USART layer to
decouple the driver from which USART it is actually attached to.
2011-07-06 02:21:00 +02:00
|
|
|
|
2011-07-30 21:04:24 +02:00
|
|
|
switch (hwsettings_rcvrport) {
|
|
|
|
case HWSETTINGS_RCVRPORT_DISABLED:
|
|
|
|
break;
|
|
|
|
case HWSETTINGS_RCVRPORT_PWM:
|
bootcfg: use UAVobj to control boot-time HW config
This should mark an end to the compile-time selection of HW
configurations.
Minor changes in board initialization for all platforms:
- Most config structs are marked static to prevent badly written
drivers from directly referring to config data.
- Adapt to changes in .irq fields in config data.
- Adapt to changes in USART IRQ handling.
Major changes in board initialization for CC:
- Use HwSettings UAVObj to decide which drivers to attach to
the "main" port and the flexi port, and select the appropriate
device configuration data.
- HwSettings allows choosing between Disabled, Telemetry, SBUS,
Spektrum,GPS, and I2C for each of the two ports.
- Use ManualControlSettings.InputMode to init/configure the
appropriate receiver module, and register its available rx channels
with the PIOS_RCVR layer. Can choose between PWM, Spektrum and PPM
at board init time. PPM driver is broken, and SBUS will work once
it is added to this UAVObj as an option.
- CC build now includes code for SBUS, Spektrum and PWM receivers in
every firmware image.
PIOS_USART driver:
- Now handles its own low-level IRQs internally
- If NULL upper-level IRQ handler is bound in at board init time
then rx/tx is satisfied by internal PIOS_USART buffered IO routines
which are (typically) attached to the COM layer.
- If an alternate upper-level IRQ handler is bound in at board init
then that handler is called and expected to clear down the USART
IRQ sources. This is used by Spektrum and SBUS drivers.
PIOS_SBUS and PIOS_SPEKTRUM drivers:
- Improved data/API hiding
- No longer assume they know where their config data is stored which
allows for boot-time alternate configurations for the driver.
- Now registers an upper-level IRQ handlerwith the USART layer to
decouple the driver from which USART it is actually attached to.
2011-07-06 02:21:00 +02:00
|
|
|
#if defined(PIOS_INCLUDE_PWM)
|
2011-08-13 05:23:16 +02:00
|
|
|
{
|
|
|
|
uint32_t pios_pwm_id;
|
|
|
|
PIOS_PWM_Init(&pios_pwm_id, &pios_pwm_cfg);
|
|
|
|
|
|
|
|
uint32_t pios_pwm_rcvr_id;
|
|
|
|
if (PIOS_RCVR_Init(&pios_pwm_rcvr_id, &pios_pwm_rcvr_driver, pios_pwm_id)) {
|
|
|
|
PIOS_Assert(0);
|
|
|
|
}
|
|
|
|
pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_PWM] = pios_pwm_rcvr_id;
|
2011-07-15 03:52:07 +02:00
|
|
|
}
|
bootcfg: use UAVobj to control boot-time HW config
This should mark an end to the compile-time selection of HW
configurations.
Minor changes in board initialization for all platforms:
- Most config structs are marked static to prevent badly written
drivers from directly referring to config data.
- Adapt to changes in .irq fields in config data.
- Adapt to changes in USART IRQ handling.
Major changes in board initialization for CC:
- Use HwSettings UAVObj to decide which drivers to attach to
the "main" port and the flexi port, and select the appropriate
device configuration data.
- HwSettings allows choosing between Disabled, Telemetry, SBUS,
Spektrum,GPS, and I2C for each of the two ports.
- Use ManualControlSettings.InputMode to init/configure the
appropriate receiver module, and register its available rx channels
with the PIOS_RCVR layer. Can choose between PWM, Spektrum and PPM
at board init time. PPM driver is broken, and SBUS will work once
it is added to this UAVObj as an option.
- CC build now includes code for SBUS, Spektrum and PWM receivers in
every firmware image.
PIOS_USART driver:
- Now handles its own low-level IRQs internally
- If NULL upper-level IRQ handler is bound in at board init time
then rx/tx is satisfied by internal PIOS_USART buffered IO routines
which are (typically) attached to the COM layer.
- If an alternate upper-level IRQ handler is bound in at board init
then that handler is called and expected to clear down the USART
IRQ sources. This is used by Spektrum and SBUS drivers.
PIOS_SBUS and PIOS_SPEKTRUM drivers:
- Improved data/API hiding
- No longer assume they know where their config data is stored which
allows for boot-time alternate configurations for the driver.
- Now registers an upper-level IRQ handlerwith the USART layer to
decouple the driver from which USART it is actually attached to.
2011-07-06 02:21:00 +02:00
|
|
|
#endif /* PIOS_INCLUDE_PWM */
|
|
|
|
break;
|
2011-07-30 21:04:24 +02:00
|
|
|
case HWSETTINGS_RCVRPORT_PPM:
|
bootcfg: use UAVobj to control boot-time HW config
This should mark an end to the compile-time selection of HW
configurations.
Minor changes in board initialization for all platforms:
- Most config structs are marked static to prevent badly written
drivers from directly referring to config data.
- Adapt to changes in .irq fields in config data.
- Adapt to changes in USART IRQ handling.
Major changes in board initialization for CC:
- Use HwSettings UAVObj to decide which drivers to attach to
the "main" port and the flexi port, and select the appropriate
device configuration data.
- HwSettings allows choosing between Disabled, Telemetry, SBUS,
Spektrum,GPS, and I2C for each of the two ports.
- Use ManualControlSettings.InputMode to init/configure the
appropriate receiver module, and register its available rx channels
with the PIOS_RCVR layer. Can choose between PWM, Spektrum and PPM
at board init time. PPM driver is broken, and SBUS will work once
it is added to this UAVObj as an option.
- CC build now includes code for SBUS, Spektrum and PWM receivers in
every firmware image.
PIOS_USART driver:
- Now handles its own low-level IRQs internally
- If NULL upper-level IRQ handler is bound in at board init time
then rx/tx is satisfied by internal PIOS_USART buffered IO routines
which are (typically) attached to the COM layer.
- If an alternate upper-level IRQ handler is bound in at board init
then that handler is called and expected to clear down the USART
IRQ sources. This is used by Spektrum and SBUS drivers.
PIOS_SBUS and PIOS_SPEKTRUM drivers:
- Improved data/API hiding
- No longer assume they know where their config data is stored which
allows for boot-time alternate configurations for the driver.
- Now registers an upper-level IRQ handlerwith the USART layer to
decouple the driver from which USART it is actually attached to.
2011-07-06 02:21:00 +02:00
|
|
|
#if defined(PIOS_INCLUDE_PPM)
|
2011-08-13 05:23:16 +02:00
|
|
|
{
|
|
|
|
uint32_t pios_ppm_id;
|
|
|
|
PIOS_PPM_Init(&pios_ppm_id, &pios_ppm_cfg);
|
|
|
|
|
|
|
|
uint32_t pios_ppm_rcvr_id;
|
|
|
|
if (PIOS_RCVR_Init(&pios_ppm_rcvr_id, &pios_ppm_rcvr_driver, pios_ppm_id)) {
|
|
|
|
PIOS_Assert(0);
|
|
|
|
}
|
|
|
|
pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_PPM] = pios_ppm_rcvr_id;
|
2011-07-15 03:52:07 +02:00
|
|
|
}
|
bootcfg: use UAVobj to control boot-time HW config
This should mark an end to the compile-time selection of HW
configurations.
Minor changes in board initialization for all platforms:
- Most config structs are marked static to prevent badly written
drivers from directly referring to config data.
- Adapt to changes in .irq fields in config data.
- Adapt to changes in USART IRQ handling.
Major changes in board initialization for CC:
- Use HwSettings UAVObj to decide which drivers to attach to
the "main" port and the flexi port, and select the appropriate
device configuration data.
- HwSettings allows choosing between Disabled, Telemetry, SBUS,
Spektrum,GPS, and I2C for each of the two ports.
- Use ManualControlSettings.InputMode to init/configure the
appropriate receiver module, and register its available rx channels
with the PIOS_RCVR layer. Can choose between PWM, Spektrum and PPM
at board init time. PPM driver is broken, and SBUS will work once
it is added to this UAVObj as an option.
- CC build now includes code for SBUS, Spektrum and PWM receivers in
every firmware image.
PIOS_USART driver:
- Now handles its own low-level IRQs internally
- If NULL upper-level IRQ handler is bound in at board init time
then rx/tx is satisfied by internal PIOS_USART buffered IO routines
which are (typically) attached to the COM layer.
- If an alternate upper-level IRQ handler is bound in at board init
then that handler is called and expected to clear down the USART
IRQ sources. This is used by Spektrum and SBUS drivers.
PIOS_SBUS and PIOS_SPEKTRUM drivers:
- Improved data/API hiding
- No longer assume they know where their config data is stored which
allows for boot-time alternate configurations for the driver.
- Now registers an upper-level IRQ handlerwith the USART layer to
decouple the driver from which USART it is actually attached to.
2011-07-06 02:21:00 +02:00
|
|
|
#endif /* PIOS_INCLUDE_PPM */
|
|
|
|
break;
|
2011-07-30 21:04:24 +02:00
|
|
|
}
|
|
|
|
|
2011-07-28 14:22:47 +02:00
|
|
|
#if defined(PIOS_INCLUDE_GCSRCVR)
|
2011-08-27 22:57:09 +02:00
|
|
|
GCSReceiverInitialize();
|
2011-07-30 21:04:24 +02:00
|
|
|
PIOS_GCSRCVR_Init();
|
|
|
|
uint32_t pios_gcsrcvr_rcvr_id;
|
|
|
|
if (PIOS_RCVR_Init(&pios_gcsrcvr_rcvr_id, &pios_gcsrcvr_rcvr_driver, 0)) {
|
2011-08-13 05:23:16 +02:00
|
|
|
PIOS_Assert(0);
|
bootcfg: use UAVobj to control boot-time HW config
This should mark an end to the compile-time selection of HW
configurations.
Minor changes in board initialization for all platforms:
- Most config structs are marked static to prevent badly written
drivers from directly referring to config data.
- Adapt to changes in .irq fields in config data.
- Adapt to changes in USART IRQ handling.
Major changes in board initialization for CC:
- Use HwSettings UAVObj to decide which drivers to attach to
the "main" port and the flexi port, and select the appropriate
device configuration data.
- HwSettings allows choosing between Disabled, Telemetry, SBUS,
Spektrum,GPS, and I2C for each of the two ports.
- Use ManualControlSettings.InputMode to init/configure the
appropriate receiver module, and register its available rx channels
with the PIOS_RCVR layer. Can choose between PWM, Spektrum and PPM
at board init time. PPM driver is broken, and SBUS will work once
it is added to this UAVObj as an option.
- CC build now includes code for SBUS, Spektrum and PWM receivers in
every firmware image.
PIOS_USART driver:
- Now handles its own low-level IRQs internally
- If NULL upper-level IRQ handler is bound in at board init time
then rx/tx is satisfied by internal PIOS_USART buffered IO routines
which are (typically) attached to the COM layer.
- If an alternate upper-level IRQ handler is bound in at board init
then that handler is called and expected to clear down the USART
IRQ sources. This is used by Spektrum and SBUS drivers.
PIOS_SBUS and PIOS_SPEKTRUM drivers:
- Improved data/API hiding
- No longer assume they know where their config data is stored which
allows for boot-time alternate configurations for the driver.
- Now registers an upper-level IRQ handlerwith the USART layer to
decouple the driver from which USART it is actually attached to.
2011-07-06 02:21:00 +02:00
|
|
|
}
|
2011-07-30 21:04:24 +02:00
|
|
|
pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_GCS] = pios_gcsrcvr_rcvr_id;
|
|
|
|
#endif /* PIOS_INCLUDE_GCSRCVR */
|
2011-02-12 23:19:43 +01:00
|
|
|
|
|
|
|
/* Remap AFIO pin */
|
|
|
|
GPIO_PinRemapConfig( GPIO_Remap_SWJ_NoJTRST, ENABLE);
|
2011-08-13 05:23:16 +02:00
|
|
|
|
|
|
|
#ifndef PIOS_DEBUG_ENABLE_DEBUG_PINS
|
|
|
|
PIOS_Servo_Init(&pios_servo_cfg);
|
|
|
|
#else
|
|
|
|
PIOS_DEBUG_Init(&pios_tim_servo_all_channels, NELEMENTS(pios_tim_servo_all_channels));
|
|
|
|
#endif /* PIOS_DEBUG_ENABLE_DEBUG_PINS */
|
2011-02-12 23:19:43 +01:00
|
|
|
|
|
|
|
PIOS_ADC_Init();
|
|
|
|
PIOS_GPIO_Init();
|
|
|
|
|
|
|
|
#if defined(PIOS_INCLUDE_USB_HID)
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2011-07-26 06:27:03 +02:00
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uint32_t pios_usb_hid_id;
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PIOS_USB_HID_Init(&pios_usb_hid_id, &pios_usb_hid_main_cfg);
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2011-02-12 23:19:43 +01:00
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#if defined(PIOS_INCLUDE_COM)
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2011-07-29 16:04:55 +02:00
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uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_USB_RX_BUF_LEN);
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uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_USB_TX_BUF_LEN);
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PIOS_Assert(rx_buffer);
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PIOS_Assert(tx_buffer);
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if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_com_driver, pios_usb_hid_id,
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rx_buffer, PIOS_COM_TELEM_USB_RX_BUF_LEN,
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tx_buffer, PIOS_COM_TELEM_USB_TX_BUF_LEN)) {
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2011-07-07 04:34:59 +02:00
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PIOS_Assert(0);
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2011-02-12 23:19:43 +01:00
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}
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#endif /* PIOS_INCLUDE_COM */
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bootcfg: use UAVobj to control boot-time HW config
This should mark an end to the compile-time selection of HW
configurations.
Minor changes in board initialization for all platforms:
- Most config structs are marked static to prevent badly written
drivers from directly referring to config data.
- Adapt to changes in .irq fields in config data.
- Adapt to changes in USART IRQ handling.
Major changes in board initialization for CC:
- Use HwSettings UAVObj to decide which drivers to attach to
the "main" port and the flexi port, and select the appropriate
device configuration data.
- HwSettings allows choosing between Disabled, Telemetry, SBUS,
Spektrum,GPS, and I2C for each of the two ports.
- Use ManualControlSettings.InputMode to init/configure the
appropriate receiver module, and register its available rx channels
with the PIOS_RCVR layer. Can choose between PWM, Spektrum and PPM
at board init time. PPM driver is broken, and SBUS will work once
it is added to this UAVObj as an option.
- CC build now includes code for SBUS, Spektrum and PWM receivers in
every firmware image.
PIOS_USART driver:
- Now handles its own low-level IRQs internally
- If NULL upper-level IRQ handler is bound in at board init time
then rx/tx is satisfied by internal PIOS_USART buffered IO routines
which are (typically) attached to the COM layer.
- If an alternate upper-level IRQ handler is bound in at board init
then that handler is called and expected to clear down the USART
IRQ sources. This is used by Spektrum and SBUS drivers.
PIOS_SBUS and PIOS_SPEKTRUM drivers:
- Improved data/API hiding
- No longer assume they know where their config data is stored which
allows for boot-time alternate configurations for the driver.
- Now registers an upper-level IRQ handlerwith the USART layer to
decouple the driver from which USART it is actually attached to.
2011-07-06 02:21:00 +02:00
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#endif /* PIOS_INCLUDE_USB_HID */
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2011-02-12 23:19:54 +01:00
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2011-02-12 23:19:43 +01:00
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PIOS_IAP_Init();
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PIOS_WDG_Init();
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}
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2011-01-14 02:38:19 +01:00
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/**
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* @}
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*/
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