LibrePilot/flight/board_hw_defs/pipxtreme/board_hw_defs.c

#include <pios_config.h>

#if defined(PIOS_INCLUDE_LED)

#include <pios_led_priv.h>
static const struct pios_led pios_leds[] = {
	[PIOS_LED_USB] = {
		.pin = {
			//.gpio = GPIOA,
			.gpio = GPIOC,
			.init = {
				//.GPIO_Pin   = GPIO_Pin_3,
				.GPIO_Pin   = GPIO_Pin_13,
				.GPIO_Mode  = GPIO_Mode_Out_PP,
				.GPIO_Speed = GPIO_Speed_50MHz,
			},
		},
	},
	[PIOS_LED_LINK] = {
		.pin = {
			.gpio = GPIOB,
			.init = {
				.GPIO_Pin   = GPIO_Pin_5,
				.GPIO_Mode  = GPIO_Mode_Out_PP,
				.GPIO_Speed = GPIO_Speed_50MHz,
			},
		},
	},
	[PIOS_LED_RX] = {
		.pin = {
			.gpio = GPIOB,
			.init = {
				.GPIO_Pin   = GPIO_Pin_6,
				.GPIO_Mode  = GPIO_Mode_Out_PP,
				.GPIO_Speed = GPIO_Speed_50MHz,
			},
		},
	},
	[PIOS_LED_TX] = {
		.pin = {
			.gpio = GPIOB,
			.init = {
				.GPIO_Pin   = GPIO_Pin_7,
				.GPIO_Mode  = GPIO_Mode_Out_PP,
				.GPIO_Speed = GPIO_Speed_50MHz,
			},
		},
	},
};

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

#endif	/* PIOS_INCLUDE_LED */

#if defined(PIOS_INCLUDE_SPI)

#include <pios_spi_priv.h>

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

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

	.init =
	{
		.SPI_Mode = SPI_Mode_Master,
		.SPI_Direction = SPI_Direction_2Lines_FullDuplex,
		.SPI_DataSize = SPI_DataSize_8b,
		.SPI_NSS = SPI_NSS_Soft,
		.SPI_FirstBit = SPI_FirstBit_MSB,
		.SPI_CRCPolynomial = 0,
		.SPI_CPOL = SPI_CPOL_Low,
		.SPI_CPHA = SPI_CPHA_1Edge,
		.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_256,		// slowest SCLK
	},
	.use_crc = FALSE,

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

		    .rx = {
		      .channel = DMA1_Channel2,
		      .init    = {
			.DMA_PeripheralBaseAddr = (uint32_t)&(SPI1->DR),
			.DMA_DIR                = DMA_DIR_PeripheralSRC,
			.DMA_PeripheralInc      = DMA_PeripheralInc_Disable,
			.DMA_MemoryInc          = DMA_MemoryInc_Enable,
			.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
			.DMA_MemoryDataSize     = DMA_MemoryDataSize_Byte,
			.DMA_Mode               = DMA_Mode_Normal,
			.DMA_Priority           = DMA_Priority_Medium,
			.DMA_M2M                = DMA_M2M_Disable,
		      },
		    },
		    .tx = {
		      .channel = DMA1_Channel3,
		      .init    = {
			.DMA_PeripheralBaseAddr = (uint32_t)&(SPI1->DR),
			.DMA_DIR                = DMA_DIR_PeripheralDST,
			.DMA_PeripheralInc      = DMA_PeripheralInc_Disable,
			.DMA_MemoryInc          = DMA_MemoryInc_Enable,
			.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
			.DMA_MemoryDataSize     = DMA_MemoryDataSize_Byte,
			.DMA_Mode               = DMA_Mode_Normal,
			.DMA_Priority           = DMA_Priority_Medium,
			.DMA_M2M                = DMA_M2M_Disable,
		      },
		    },
	},

	.ssel =
	{
		.gpio = GPIOA,
		.init =
		{
			.GPIO_Pin = GPIO_Pin_4,
			.GPIO_Speed = GPIO_Speed_10MHz,
			.GPIO_Mode = GPIO_Mode_Out_PP,
		},
	},
	.sclk =
	{
		.gpio = GPIOA,
		.init =
		{
			.GPIO_Pin = GPIO_Pin_5,
			.GPIO_Speed = GPIO_Speed_10MHz,
			.GPIO_Mode = GPIO_Mode_AF_PP,
		},
	},
	.miso =
	{
		.gpio = GPIOA,
		.init =
		{
			.GPIO_Pin = GPIO_Pin_6,
			.GPIO_Speed = GPIO_Speed_10MHz,
			.GPIO_Mode  = GPIO_Mode_IN_FLOATING,
		},
	},
	.mosi =
	{
		.gpio = GPIOA,
		.init =
		{
			.GPIO_Pin = GPIO_Pin_7,
			.GPIO_Speed = GPIO_Speed_10MHz,
			.GPIO_Mode = GPIO_Mode_AF_PP,
		},
	},
};

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

#endif /* PIOS_INCLUDE_SPI */

#if defined(PIOS_INCLUDE_ADC)

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

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

uint8_t pios_adc_num_devices = NELEMENTS(pios_adc_devs);

void PIOS_ADC_handler() {
	PIOS_ADC_DMA_Handler();
}

#endif	/* PIOS_INCLUDE_ADC */

#if defined(PIOS_INCLUDE_USART)

#include <pios_usart_priv.h>

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

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

#endif /* PIOS_INCLUDE_USART */

#if defined(PIOS_INCLUDE_COM)

#include <pios_com_priv.h>

#endif /* PIOS_INCLUDE_COM */

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

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

void PIOS_RTC_IRQ_Handler (void)
{
	PIOS_RTC_irq_handler ();
}

#endif

#if defined(PIOS_INCLUDE_TIM)

#include "pios_tim_priv.h"

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

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

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

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

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

#endif	/* PIOS_INCLUDE_TIM */

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

static const struct pios_usb_cfg pios_usb_main_cfg = {
  .irq = {
    .init    = {
      .NVIC_IRQChannel                   = USB_LP_CAN1_RX0_IRQn,
      .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW,
      .NVIC_IRQChannelSubPriority        = 0,
      .NVIC_IRQChannelCmd                = ENABLE,
    },
  },
};

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

#endif	/* PIOS_INCLUDE_USB */

#if defined(PIOS_INCLUDE_COM_MSG)

#include <pios_com_msg_priv.h>

#endif /* PIOS_INCLUDE_COM_MSG */

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

const struct pios_usb_hid_cfg pios_usb_hid_cfg = {
	.data_if = 0,
	.data_rx_ep = 1,
	.data_tx_ep = 1,
};
#endif /* PIOS_INCLUDE_USB_HID */

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

const struct pios_usb_cdc_cfg pios_usb_cdc_cfg = {
	.ctrl_if = 1,
	.ctrl_tx_ep = 2,

	.data_if = 2,
	.data_rx_ep = 3,
	.data_tx_ep = 3,
};
#endif	/* PIOS_INCLUDE_USB_CDC */

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

const struct pios_rfm22b_cfg pios_rfm22b_cfg = {
	.frequencyHz = 434000000,
	.minFrequencyHz = 434000000 - 2000000,
	.maxFrequencyHz = 434000000 + 2000000,
	.RFXtalCap = 0x7f,
	.maxRFBandwidth = 128000,
	.maxTxPower = RFM22_tx_pwr_txpow_0, // +1dBm ... 1.25mW
	.sendTimeout = 15, /* ms */
	.minPacketSize = 50,
	.txWinSize = 4,
	.maxConnections = 1,
	.id = 0x36249acb
};
#endif /* PIOS_INCLUDE_RFM22B */