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Code Issues Releases Activity

bl_ahrs: bind to new COM, USART and SPI drivers

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2787 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
stac 2011-02-14 01:17:35 +00:00 committed by stac
parent bbb3882826
commit 000234f036
5 changed files with 21 additions and 197 deletions
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6
flight/Bootloaders/AHRS/bl_fsm.c
View File

@ -32,6 +32,12 @@ static struct lfsm_context context = { 0 };
static void lfsm_update_link_tx (struct lfsm_context * context);
static void lfsm_init_rx (struct lfsm_context * context);
static uint32_t PIOS_SPI_OP;
void lfsm_attach(uint32_t spi_id)
{
PIOS_SPI_OP = spi_id;
}
/*
*
* Link Finite State Machine

1
flight/Bootloaders/AHRS/inc/bl_fsm.h
View File

@ -72,6 +72,7 @@ struct lfsm_link_stats {
uint32_t rx_badver;
};
extern void lfsm_attach(uint32_t spi_id);
extern void lfsm_init(void);
extern void lfsm_inject_event(enum lfsm_event event);

6
flight/Bootloaders/AHRS/inc/pios_config.h
View File

@ -29,18 +29,12 @@
#define PIOS_CONFIG_H
/* Enable/Disable PiOS Modules */
//#define PIOS_INCLUDE_ADC
#define PIOS_INCLUDE_DELAY
//#define PIOS_INCLUDE_I2C
#define PIOS_INCLUDE_IRQ
#define PIOS_INCLUDE_LED
#define PIOS_INCLUDE_SPI
#define PIOS_INCLUDE_SYS
#define PIOS_INCLUDE_BL_HELPER
//#define PIOS_INCLUDE_USART
//#define PIOS_INCLUDE_COM
//#define PIOS_INCLUDE_HMC5843
#define PIOS_INCLUDE_GPIO
#endif /* PIOS_CONFIG_H */

6
flight/Bootloaders/AHRS/main.c
View File

@ -37,6 +37,8 @@
#include "bl_fsm.h" /* lfsm_state */
#include "stm32f10x_flash.h"
extern void PIOS_Board_Init(void);
#define NSS_HOLD_STATE ((GPIOB->IDR & GPIO_Pin_12) ? 0 : 1)
enum bootloader_status boot_status;
/* Private typedef -----------------------------------------------------------*/
@ -92,9 +94,7 @@ int main() {
PIOS_DELAY_WaitmS(1000);
PIOS_IAP_ClearRequest();
}
/* SPI link to master */
PIOS_SPI_Init();
lfsm_init();
PIOS_Board_Init();
boot_status = idle;
Fw_crc = crc_memory_calc();
PIOS_LED_On(LED1);

199
flight/Bootloaders/AHRS/pios_board.c
View File

@ -128,200 +128,23 @@ static const struct pios_spi_cfg pios_spi_op_cfg = {
},
};
/*
* Board specific number of devices.
*/
struct pios_spi_dev pios_spi_devs[] = {
{
.cfg = &pios_spi_op_cfg,
},
};
uint8_t pios_spi_num_devices = NELEMENTS(pios_spi_devs);
uint32_t pios_spi_op_id;
void PIOS_SPI_op_irq_handler(void)
{
/* Call into the generic code to handle the IRQ for this specific device */
PIOS_SPI_IRQ_Handler(PIOS_SPI_OP);
/* Call into the generic code to handle the IRQ for this specific device */
PIOS_SPI_IRQ_Handler(pios_spi_op_id);
}
#endif /* PIOS_INCLUDE_SPI */
#if defined(PIOS_INCLUDE_USART)
#include <pios_usart_priv.h>
#include "bl_fsm.h" /* lfsm_* */
/*
* AUX USART
*/
void PIOS_USART_aux_irq_handler(void);
void USART3_IRQHandler() __attribute__ ((alias ("PIOS_USART_aux_irq_handler")));
const struct pios_usart_cfg pios_usart_aux_cfg = {
.regs = USART3,
.init = {
#if defined(PIOS_COM_AUX_BAUDRATE)
.USART_BaudRate = PIOS_COM_AUX_BAUDRATE
#else
.USART_BaudRate = 115200,
#endif
.USART_WordLength = USART_WordLength_8b,
.USART_Parity = USART_Parity_No,
.USART_StopBits = USART_StopBits_1,
.USART_HardwareFlowControl = USART_HardwareFlowControl_None,
.USART_Mode = USART_Mode_Rx | USART_Mode_Tx,
},
.irq = {
.handler = PIOS_USART_aux_irq_handler,
.init = {
.NVIC_IRQChannel = USART3_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
.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,
},
},
};
/*
* Board specific number of devices.
*/
struct pios_usart_dev pios_usart_devs[] = {
#define PIOS_USART_AUX 0
{
.cfg = &pios_usart_aux_cfg,
},
};
uint8_t pios_usart_num_devices = NELEMENTS(pios_usart_devs);
void PIOS_USART_aux_irq_handler(void)
void PIOS_Board_Init()
{
PIOS_USART_IRQ_Handler(PIOS_USART_AUX);
/* Set up the SPI interface to the OP board */
if (PIOS_SPI_Init(&pios_spi_op_id, &pios_spi_op_cfg)) {
PIOS_DEBUG_Assert(0);
}
lfsm_attach(pios_spi_op_id);
lfsm_init();
}
#endif /* PIOS_INCLUDE_USART */
#if defined(PIOS_INCLUDE_COM)
#include <pios_com_priv.h>
/*
* COM devices
*/
/*
* Board specific number of devices.
*/
extern const struct pios_com_driver pios_usart_com_driver;
struct pios_com_dev pios_com_devs[] = {
{
.id = PIOS_USART_AUX,
.driver = &pios_usart_com_driver,
},
};
const uint8_t pios_com_num_devices = NELEMENTS(pios_com_devs);
#endif /* PIOS_INCLUDE_COM */
#if defined(PIOS_INCLUDE_I2C)
#include <pios_i2c_priv.h>
/*
* I2C Adapters
*/
void PIOS_I2C_main_adapter_ev_irq_handler(void);
void PIOS_I2C_main_adapter_er_irq_handler(void);
void I2C1_EV_IRQHandler() __attribute__ ((alias ("PIOS_I2C_main_adapter_ev_irq_handler")));
void I2C1_ER_IRQHandler() __attribute__ ((alias ("PIOS_I2C_main_adapter_er_irq_handler")));
const struct pios_i2c_adapter_cfg pios_i2c_main_adapter_cfg = {
.regs = I2C1,
.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 = 200000, /* bits/s */
},
.transfer_timeout_ms = 50,
.scl = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_6,
.GPIO_Speed = GPIO_Speed_10MHz,
.GPIO_Mode = GPIO_Mode_AF_OD,
},
},
.sda = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_7,
.GPIO_Speed = GPIO_Speed_10MHz,
.GPIO_Mode = GPIO_Mode_AF_OD,
},
},
.event = {
.handler = PIOS_I2C_main_adapter_ev_irq_handler,
.flags = 0, /* FIXME: check this */
.init = {
.NVIC_IRQChannel = I2C1_EV_IRQn,
//.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST,
.NVIC_IRQChannelPreemptionPriority = 2,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.error = {
.handler = PIOS_I2C_main_adapter_er_irq_handler,
.flags = 0, /* FIXME: check this */
.init = {
.NVIC_IRQChannel = I2C1_ER_IRQn,
//.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST,
.NVIC_IRQChannelPreemptionPriority = 2,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
};
/*
* Board specific number of devices.
*/
struct pios_i2c_adapter pios_i2c_adapters[] = {
{
.cfg = &pios_i2c_main_adapter_cfg,
},
};
uint8_t pios_i2c_num_adapters = NELEMENTS(pios_i2c_adapters);
void PIOS_I2C_main_adapter_ev_irq_handler(void)
{
/* Call into the generic code to handle the IRQ for this specific device */
PIOS_I2C_EV_IRQ_Handler(PIOS_I2C_MAIN_ADAPTER);
}
void PIOS_I2C_main_adapter_er_irq_handler(void)
{
/* Call into the generic code to handle the IRQ for this specific device */
PIOS_I2C_ER_IRQ_Handler(PIOS_I2C_MAIN_ADAPTER);
}
#endif /* PIOS_INCLUDE_I2C */