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Code Issues Releases Activity

Reconfigure the SPI ports.

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This commit is contained in:
James Cotton 2012-08-25 12:38:44 -05:00
parent b463e36d67
commit 05e2e24bcb
4 changed files with 40 additions and 351 deletions
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1
flight/RevoMini/Makefile
View File

@ -55,7 +55,6 @@ MODULES += Altitude/revolution GPS FirmwareIAP
MODULES += Airspeed/revolution
MODULES += AltitudeHold VtolPathFollower FixedWingPathFollower PathPlanner
MODULES += CameraStab
MODULES += OveroSync
MODULES += Telemetry
PYMODULES =
#FlightPlan

4
flight/RevoMini/System/inc/pios_config.h
View File

@ -57,15 +57,12 @@
#define PIOS_INCLUDE_WDG
/* Select the sensors to include */
#define PIOS_INCLUDE_BMA180
#define PIOS_INCLUDE_HMC5883
#define PIOS_INCLUDE_MPU6000
#define PIOS_MPU6000_ACCEL
#define PIOS_INCLUDE_L3GD20
#define PIOS_INCLUDE_MS5611
#define PIOS_INCLUDE_ETASV3
//#define PIOS_INCLUDE_HCSR04
#define PIOS_FLASH_ON_ACCEL /* true for second revo */
#define FLASH_FREERTOS
/* Com systems to include */
#define PIOS_INCLUDE_COM
@ -79,7 +76,6 @@
#define PIOS_INCLUDE_GPS_UBX_PARSER
#define PIOS_GPS_SETS_HOMELOCATION
#define PIOS_OVERO_SPI
/* Supported receiver interfaces */
#define PIOS_INCLUDE_RCVR
#define PIOS_INCLUDE_DSM

61
flight/RevoMini/System/pios_board.c
View File

@ -383,24 +383,18 @@ void PIOS_Board_Init(void) {
PIOS_LED_Init(&pios_led_cfg);
/* Set up the SPI interface to the accelerometer*/
if (PIOS_SPI_Init(&pios_spi_accel_id, &pios_spi_accel_cfg)) {
PIOS_DEBUG_Assert(0);
}
/* Set up the SPI interface to the gyro */
/* Set up the SPI interface to the gyro/acelerometer */
if (PIOS_SPI_Init(&pios_spi_gyro_id, &pios_spi_gyro_cfg)) {
PIOS_DEBUG_Assert(0);
}
#if !defined(PIOS_FLASH_ON_ACCEL)
/* Set up the SPI interface to the flash */
if (PIOS_SPI_Init(&pios_spi_flash_id, &pios_spi_flash_cfg)) {
/* Set up the SPI interface to the flash and rfm22b */
if (PIOS_SPI_Init(&pios_spi_telem_flash_id, &pios_spi_telem_flash_cfg)) {
PIOS_DEBUG_Assert(0);
}
PIOS_Flash_Jedec_Init(pios_spi_flash_id, 0, &flash_m25p_cfg);
#else
PIOS_Flash_Jedec_Init(pios_spi_accel_id, 1, &flash_m25p_cfg);
#endif
/* Connect flash to the approrpiate interface and configure it */
PIOS_Flash_Jedec_Init(pios_spi_telem_flash_id, 0, &flash_m25p_cfg);
PIOS_FLASHFS_Init(&flashfs_m25p_cfg);
/* Initialize UAVObject libraries */
@ -780,29 +774,6 @@ void PIOS_Board_Init(void) {
break;
}
#if defined(PIOS_OVERO_SPI)
/* Set up the SPI based PIOS_COM interface to the overo */
{
HwSettingsData hwSettings;
HwSettingsGet(&hwSettings);
if(hwSettings.OptionalModules[HWSETTINGS_OPTIONALMODULES_OVERO] == HWSETTINGS_OPTIONALMODULES_ENABLED) {
if (PIOS_OVERO_Init(&pios_overo_id, &pios_overo_cfg)) {
PIOS_DEBUG_Assert(0);
}
const uint32_t PACKET_SIZE = 1024;
uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PACKET_SIZE);
uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PACKET_SIZE);
PIOS_Assert(rx_buffer);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_overo_id, &pios_overo_com_driver, pios_overo_id,
rx_buffer, PACKET_SIZE,
tx_buffer, PACKET_SIZE)) {
PIOS_Assert(0);
}
}
}
#endif
#if defined(PIOS_INCLUDE_GCSRCVR)
GCSReceiverInitialize();
@ -856,25 +827,9 @@ void PIOS_Board_Init(void) {
PIOS_MS5611_Init(&pios_ms5611_cfg, pios_i2c_pressure_adapter_id);
#endif
switch(bdinfo->board_rev) {
case 0x01:
#if defined(PIOS_INCLUDE_L3GD20)
PIOS_L3GD20_Init(pios_spi_gyro_id, 0, &pios_l3gd20_cfg);
PIOS_Assert(PIOS_L3GD20_Test() == 0);
#endif
#if defined(PIOS_INCLUDE_BMA180)
PIOS_BMA180_Init(pios_spi_accel_id, 0, &pios_bma180_cfg);
PIOS_Assert(PIOS_BMA180_Test() == 0);
#endif
break;
case 0x02:
#if defined(PIOS_INCLUDE_MPU6000)
PIOS_MPU6000_Init(pios_spi_gyro_id,0, &pios_mpu6000_cfg);
PIOS_MPU6000_Init(pios_spi_gyro_id,0, &pios_mpu6000_cfg);
#endif
break;
default:
PIOS_DEBUG_Assert(0);
}
}

325
flight/board_hw_defs/revomini/board_hw_defs.c
View File

@ -35,21 +35,9 @@
static const struct pios_led pios_leds[] = {
[PIOS_LED_HEARTBEAT] = {
.pin = {
.gpio = GPIOE,
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_2,
.GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_Mode = GPIO_Mode_OUT,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP
},
},
},
[PIOS_LED_ALARM] = {
.pin = {
.gpio = GPIOE,
.init = {
.GPIO_Pin = GPIO_Pin_3,
.GPIO_Pin = GPIO_Pin_12,
.GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_Mode = GPIO_Mode_OUT,
.GPIO_OType = GPIO_OType_PP,
@ -73,13 +61,15 @@ const struct pios_led_cfg * PIOS_BOARD_HW_DEFS_GetLedCfg (uint32_t board_revisio
#if defined(PIOS_INCLUDE_SPI)
#include <pios_spi_priv.h>
/* SPI1 Interface
* - Used for BMA180 accelerometer
/*
* SPI1 Interface
* Used for MPU6000 gyro and accelerometer
*/
void PIOS_SPI_accel_irq_handler(void);
void DMA2_Stream0_IRQHandler(void) __attribute__((alias("PIOS_SPI_accel_irq_handler")));
void DMA2_Stream3_IRQHandler(void) __attribute__((alias("PIOS_SPI_accel_irq_handler")));
static const struct pios_spi_cfg pios_spi_accel_cfg = {
void PIOS_SPI_gyro_irq_handler(void);
void DMA2_Stream0_IRQHandler(void) __attribute__((alias("PIOS_SPI_gyro_irq_handler")));
void DMA2_Stream3_IRQHandler(void) __attribute__((alias("PIOS_SPI_gyro_irq_handler")));
static const struct pios_spi_cfg pios_spi_gyro_cfg = {
.regs = SPI1,
.remap = GPIO_AF_SPI1,
.init = {
@ -172,7 +162,7 @@ static const struct pios_spi_cfg pios_spi_accel_cfg = {
.GPIO_PuPd = GPIO_PuPd_UP
},
},
.slave_count = 2,
.slave_count = 1,
.ssel = { {
.gpio = GPIOA,
.init = {
@ -181,142 +171,11 @@ static const struct pios_spi_cfg pios_spi_accel_cfg = {
.GPIO_Mode = GPIO_Mode_OUT,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP
} },
{
.gpio = GPIOC,
.init = {
.GPIO_Pin = GPIO_Pin_5,
.GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_Mode = GPIO_Mode_OUT,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP
} },
} }
}
};
static uint32_t pios_spi_accel_id;
void PIOS_SPI_accel_irq_handler(void)
{
/* Call into the generic code to handle the IRQ for this specific device */
PIOS_SPI_IRQ_Handler(pios_spi_accel_id);
}
/* SPI2 Interface
* - Used for gyro communications
*/
void PIOS_SPI_GYRO_irq_handler(void);
void DMA1_Stream3_IRQHandler(void) __attribute__((alias("PIOS_SPI_gyro_irq_handler")));
void DMA1_Stream4_IRQHandler(void) __attribute__((alias("PIOS_SPI_gyro_irq_handler")));
static const struct pios_spi_cfg pios_spi_gyro_cfg = {
.regs = SPI2,
.remap = GPIO_AF_SPI2,
.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 = 7,
.SPI_CPOL = SPI_CPOL_High,
.SPI_CPHA = SPI_CPHA_2Edge,
.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_8,
},
.use_crc = false,
.dma = {
.irq = {
// Note this is the stream ID that triggers interrupts (in this case RX)
.flags = (DMA_IT_TCIF3 | DMA_IT_TEIF3 | DMA_IT_HTIF3),
.init = {
.NVIC_IRQChannel = DMA1_Stream3_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.rx = {
.channel = DMA1_Stream3,
.init = {
.DMA_Channel = DMA_Channel_0,
.DMA_PeripheralBaseAddr = (uint32_t) & (SPI2->DR),
.DMA_DIR = DMA_DIR_PeripheralToMemory,
.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,
//TODO: Enable FIFO
.DMA_FIFOMode = DMA_FIFOMode_Disable,
.DMA_FIFOThreshold = DMA_FIFOThreshold_Full,
.DMA_MemoryBurst = DMA_MemoryBurst_Single,
.DMA_PeripheralBurst = DMA_PeripheralBurst_Single,
},
},
.tx = {
.channel = DMA1_Stream4,
.init = {
.DMA_Channel = DMA_Channel_0,
.DMA_PeripheralBaseAddr = (uint32_t) & (SPI2->DR),
.DMA_DIR = DMA_DIR_MemoryToPeripheral,
.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_FIFOMode = DMA_FIFOMode_Disable,
.DMA_FIFOThreshold = DMA_FIFOThreshold_Full,
.DMA_MemoryBurst = DMA_MemoryBurst_Single,
.DMA_PeripheralBurst = DMA_PeripheralBurst_Single,
},
},
},
.sclk = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_13,
.GPIO_Speed = GPIO_Speed_100MHz,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_NOPULL
},
},
.miso = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_14,
.GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_NOPULL
},
},
.mosi = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_15,
.GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_NOPULL
},
},
.slave_count = 1,
.ssel = { {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_12,
.GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_Mode = GPIO_Mode_OUT,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP
},
} },
};
uint32_t pios_spi_gyro_id;
static uint32_t pios_spi_gyro_id;
void PIOS_SPI_gyro_irq_handler(void)
{
/* Call into the generic code to handle the IRQ for this specific device */
@ -324,14 +183,14 @@ void PIOS_SPI_gyro_irq_handler(void)
}
#if !defined(PIOS_FLASH_ON_ACCEL)
/* SPI3 Interface
* - Used for flash communications
/*
* SPI3 Interface
* Used for Flash and the RFM22B
*/
void PIOS_SPI_flash_irq_handler(void);
void DMA1_Stream0_IRQHandler(void) __attribute__((alias("PIOS_SPI_flash_irq_handler")));
void DMA1_Stream5_IRQHandler(void) __attribute__((alias("PIOS_SPI_flash_irq_handler")));
static const struct pios_spi_cfg pios_spi_flash_cfg = {
void PIOS_SPI_telem_flash_irq_handler(void);
void DMA1_Stream0_IRQHandler(void) __attribute__((alias("PIOS_SPI_telem_flash_irq_handler")));
void DMA1_Stream5_IRQHandler(void) __attribute__((alias("PIOS_SPI_telem_flash_irq_handler")));
static const struct pios_spi_cfg pios_spi_telem_flash_cfg = {
.regs = SPI3,
.remap = GPIO_AF_SPI3,
.init = {
@ -427,132 +286,16 @@ static const struct pios_spi_cfg pios_spi_flash_cfg = {
},
},
.slave_count = 1,
.ssel = { {
.gpio = GPIOD,
.ssel = { { // Flash
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_2,
.GPIO_Pin = GPIO_Pin_3,
.GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_Mode = GPIO_Mode_OUT,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP
},
} },
};
uint32_t pios_spi_flash_id;
void PIOS_SPI_flash_irq_handler(void)
{
/* Call into the generic code to handle the IRQ for this specific device */
PIOS_SPI_IRQ_Handler(pios_spi_flash_id);
}
#endif /* PIOS_FLASH_ON_ACCEL */
#endif /* PIOS_INCLUDE_SPI */
#if defined(PIOS_OVERO_SPI)
/* SPI3 Interface
* - Used for flash communications
*/
#include <pios_overo_priv.h>
void PIOS_OVERO_irq_handler(void);
void DMA1_Stream7_IRQHandler(void) __attribute__((alias("PIOS_OVERO_irq_handler")));
static const struct pios_overo_cfg pios_overo_cfg = {
.regs = SPI3,
.remap = GPIO_AF_SPI3,
.init = {
.SPI_Mode = SPI_Mode_Slave,
.SPI_Direction = SPI_Direction_2Lines_FullDuplex,
.SPI_DataSize = SPI_DataSize_8b,
.SPI_NSS = SPI_NSS_Hard,
.SPI_FirstBit = SPI_FirstBit_MSB,
.SPI_CRCPolynomial = 7,
.SPI_CPOL = SPI_CPOL_High,
.SPI_CPHA = SPI_CPHA_2Edge,
.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_2,
},
.use_crc = false,
.dma = {
.irq = {
// Note this is the stream ID that triggers interrupts (in this case TX)
.flags = (DMA_IT_TCIF7),
.init = {
.NVIC_IRQChannel = DMA1_Stream7_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.rx = {
.channel = DMA1_Stream0,
.init = {
.DMA_Channel = DMA_Channel_0,
.DMA_PeripheralBaseAddr = (uint32_t) & (SPI3->DR),
.DMA_DIR = DMA_DIR_PeripheralToMemory,
.DMA_PeripheralInc = DMA_PeripheralInc_Disable,
.DMA_MemoryInc = DMA_MemoryInc_Enable,
.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte,
.DMA_Mode = DMA_Mode_Circular,
.DMA_Priority = DMA_Priority_Medium,
//TODO: Enable FIFO
.DMA_FIFOMode = DMA_FIFOMode_Disable,
.DMA_FIFOThreshold = DMA_FIFOThreshold_Full,
.DMA_MemoryBurst = DMA_MemoryBurst_Single,
.DMA_PeripheralBurst = DMA_PeripheralBurst_Single,
},
},
.tx = {
.channel = DMA1_Stream7,
.init = {
.DMA_Channel = DMA_Channel_0,
.DMA_PeripheralBaseAddr = (uint32_t) & (SPI3->DR),
.DMA_DIR = DMA_DIR_MemoryToPeripheral,
.DMA_PeripheralInc = DMA_PeripheralInc_Disable,
.DMA_MemoryInc = DMA_MemoryInc_Enable,
.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte,
.DMA_Mode = DMA_Mode_Circular,
.DMA_Priority = DMA_Priority_Medium,
.DMA_FIFOMode = DMA_FIFOMode_Disable,
.DMA_FIFOThreshold = DMA_FIFOThreshold_Full,
.DMA_MemoryBurst = DMA_MemoryBurst_Single,
.DMA_PeripheralBurst = DMA_PeripheralBurst_Single,
},
},
},
.sclk = {
.gpio = GPIOC,
.init = {
.GPIO_Pin = GPIO_Pin_10,
.GPIO_Speed = GPIO_Speed_100MHz,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_NOPULL
},
},
.miso = {
.gpio = GPIOC,
.init = {
.GPIO_Pin = GPIO_Pin_11,
.GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_NOPULL
},
},
.mosi = {
.gpio = GPIOC,
.init = {
.GPIO_Pin = GPIO_Pin_12,
.GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_NOPULL
},
},
.slave_count = 1,
.ssel = { {
} },
{ // RFM22b
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_15,
@ -560,22 +303,18 @@ static const struct pios_overo_cfg pios_overo_cfg = {
.GPIO_Mode = GPIO_Mode_OUT,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP
},
} },
} },
},
};
uint32_t pios_overo_id = 0;
void PIOS_OVERO_irq_handler(void)
uint32_t pios_spi_telem_flash_id;
void PIOS_SPI_telem_flash_irq_handler(void)
{
/* Call into the generic code to handle the IRQ for this specific device */
PIOS_OVERO_DMA_irq_handler(pios_overo_id);
PIOS_SPI_IRQ_Handler(pios_spi_telem_flash_id);
}
#else
#endif /* PIOS_OVERO_SPI */
#endif /* PIOS_INCLUDE_SPI */
#include <pios_usart_priv.h>