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Foundations for PipBee modem code.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1203 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
dankers
dankers
parent
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commit
1a0f2e81e8
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/**
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******************************************************************************
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*
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* @file pios_board.h
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief
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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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#ifndef AHRS_FSM_H
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#ifndef AHRS_FSM_H
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#define AHRS_FSM_H
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#define AHRS_FSM_H
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569
flight/PipBee/Makefile
Normal file
569
flight/PipBee/Makefile
Normal file
@ -0,0 +1,569 @@
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#####
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# Project: OpenPilot PipBee Modems
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#
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#
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# Makefile for OpenPilot PipBee project
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#
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# The OpenPilot Team, http://www.openpilot.org, Copyright (C) 2009.
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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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# Set developer code and compile options
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# Set to YES for debugging
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DEBUG ?= YES
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USE_BOOTLOADER ?= NO
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# Set to YES when using Code Sourcery toolchain
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CODE_SOURCERY ?= YES
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# Toolchain prefix (i.e arm-elf- -> arm-elf-gcc.exe)
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TCHAIN_PREFIX = arm-none-eabi-
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ifeq ($(CODE_SOURCERY), YES)
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REMOVE_CMD = cs-rm
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else
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REMOVE_CMD = rm
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endif
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FLASH_TOOL = OPENOCD
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# YES enables -mthumb option to flags for source-files listed
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# in SRC and CPPSRC
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USE_THUMB_MODE = YES
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# MCU name, submodel and board
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# - MCU used for compiler-option (-mcpu)
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# - MODEL used for linker-script name (-T) and passed as define
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# - BOARD just passed as define (optional)
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MCU = cortex-m3
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CHIP = STM32F103CBT
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BOARD = STM32103CB_PIPBEE
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ifeq ($(USE_BOOTLOADER), YES)
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MODEL = MD
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else
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MODEL = MD
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endif
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# Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
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OUTDIR = Build
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# Target file name (without extension).
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TARGET = PipBee
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# Paths
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PIPBEE = ./
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PIPBEEINC = $(PIPBEE)/inc
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PIOS = ../PiOS
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PIOSINC = $(PIOS)/inc
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PIOSSTM32F10X = $(PIOS)/STM32F10x
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PIOSCOMMON = $(PIOS)/Common
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APPLIBDIR = $(PIOSSTM32F10X)/Libraries
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STMLIBDIR = $(APPLIBDIR)
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STMSPDDIR = $(STMLIBDIR)/STM32F10x_StdPeriph_Driver
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STMUSBDIR = $(STMLIBDIR)/STM32_USB-FS-Device_Driver
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STMSPDSRCDIR = $(STMSPDDIR)/src
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STMSPDINCDIR = $(STMSPDDIR)/inc
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CMSISDIR = $(STMLIBDIR)/CMSIS/Core/CM3
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# List C source files here. (C dependencies are automatically generated.)
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# use file-extension c for "c-only"-files
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## PipBee:
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SRC = pipbee.c
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SRC += pios_board.c
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## PIOS Hardware (STM32F10x)
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SRC += $(PIOSSTM32F10X)/pios_sys.c
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SRC += $(PIOSSTM32F10X)/pios_led.c
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SRC += $(PIOSSTM32F10X)/pios_delay.c
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SRC += $(PIOSSTM32F10X)/pios_usart.c
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SRC += $(PIOSSTM32F10X)/pios_irq.c
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SRC += $(PIOSSTM32F10X)/pios_adc.c
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SRC += $(PIOSSTM32F10X)/pios_i2c.c
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SRC += $(PIOSSTM32F10X)/pios_gpio.c
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SRC += $(PIOSSTM32F10X)/pios_spi.c
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## PIOS Hardware (Common)
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SRC += $(PIOSCOMMON)/pios_com.c
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SRC += $(PIOSCOMMON)/printf-stdarg.c
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## CMSIS for STM32
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SRC += $(CMSISDIR)/core_cm3.c
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SRC += $(CMSISDIR)/system_stm32f10x.c
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## Used parts of the STM-Library
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SRC += $(STMSPDSRCDIR)/stm32f10x_adc.c
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SRC += $(STMSPDSRCDIR)/stm32f10x_bkp.c
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SRC += $(STMSPDSRCDIR)/stm32f10x_crc.c
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SRC += $(STMSPDSRCDIR)/stm32f10x_dac.c
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SRC += $(STMSPDSRCDIR)/stm32f10x_dma.c
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SRC += $(STMSPDSRCDIR)/stm32f10x_exti.c
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SRC += $(STMSPDSRCDIR)/stm32f10x_flash.c
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SRC += $(STMSPDSRCDIR)/stm32f10x_gpio.c
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SRC += $(STMSPDSRCDIR)/stm32f10x_i2c.c
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SRC += $(STMSPDSRCDIR)/stm32f10x_pwr.c
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SRC += $(STMSPDSRCDIR)/stm32f10x_rcc.c
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SRC += $(STMSPDSRCDIR)/stm32f10x_rtc.c
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SRC += $(STMSPDSRCDIR)/stm32f10x_spi.c
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SRC += $(STMSPDSRCDIR)/stm32f10x_tim.c
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SRC += $(STMSPDSRCDIR)/stm32f10x_usart.c
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SRC += $(STMSPDSRCDIR)/misc.c
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# List C source files here which must be compiled in ARM-Mode (no -mthumb).
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# use file-extension c for "c-only"-files
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## just for testing, timer.c could be compiled in thumb-mode too
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SRCARM =
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# List C++ source files here.
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# use file-extension .cpp for C++-files (not .C)
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CPPSRC =
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# List C++ source files here which must be compiled in ARM-Mode.
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# use file-extension .cpp for C++-files (not .C)
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#CPPSRCARM = $(TARGET).cpp
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CPPSRCARM =
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# List Assembler source files here.
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# Make them always end in a capital .S. Files ending in a lowercase .s
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# will not be considered source files but generated files (assembler
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# output from the compiler), and will be deleted upon "make clean"!
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# Even though the DOS/Win* filesystem matches both .s and .S the same,
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# it will preserve the spelling of the filenames, and gcc itself does
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# care about how the name is spelled on its command-line.
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ASRC = $(PIOSSTM32F10X)/startup_stm32f10x_$(MODEL).S
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# List Assembler source files here which must be assembled in ARM-Mode..
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ASRCARM =
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# List any extra directories to look for include files here.
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# Each directory must be seperated by a space.
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EXTRAINCDIRS += $(PIOS)
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EXTRAINCDIRS += $(PIOSINC)
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EXTRAINCDIRS += $(PIOSSTM32F10X)
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EXTRAINCDIRS += $(PIOSCOMMON)
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EXTRAINCDIRS += $(STMSPDINCDIR)
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EXTRAINCDIRS += $(CMSISDIR)
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EXTRAINCDIRS += $(PIPBEEINC)
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# List any extra directories to look for library files here.
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# Also add directories where the linker should search for
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# includes from linker-script to the list
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# Each directory must be seperated by a space.
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EXTRA_LIBDIRS =
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# Extra Libraries
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# Each library-name must be seperated by a space.
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# i.e. to link with libxyz.a, libabc.a and libefsl.a:
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# EXTRA_LIBS = xyz abc efsl
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# for newlib-lpc (file: libnewlibc-lpc.a):
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# EXTRA_LIBS = newlib-lpc
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EXTRA_LIBS =
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# Path to Linker-Scripts
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LINKERSCRIPTPATH = $(PIOSSTM32F10X)
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# Optimization level, can be [0, 1, 2, 3, s].
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# 0 = turn off optimization. s = optimize for size.
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# (Note: 3 is not always the best optimization level. See avr-libc FAQ.)
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ifeq ($(DEBUG),YES)
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OPT = 0
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else
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OPT = s
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endif
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# Output format. (can be ihex or binary or both)
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# binary to create a load-image in raw-binary format i.e. for SAM-BA,
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# ihex to create a load-image in Intel hex format
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#LOADFORMAT = ihex
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#LOADFORMAT = binary
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LOADFORMAT = both
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# Debugging format.
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DEBUGF = dwarf-2
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# Place project-specific -D (define) and/or
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# -U options for C here.
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CDEFS = -DSTM32F10X_$(MODEL)
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CDEFS += -DUSE_STDPERIPH_DRIVER
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CDEFS += -DUSE_$(BOARD)
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# Place project-specific -D and/or -U options for
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# Assembler with preprocessor here.
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#ADEFS = -DUSE_IRQ_ASM_WRAPPER
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ADEFS = -D__ASSEMBLY__
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# Compiler flag to set the C Standard level.
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# c89 - "ANSI" C
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# gnu89 - c89 plus GCC extensions
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# c99 - ISO C99 standard (not yet fully implemented)
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# gnu99 - c99 plus GCC extensions
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CSTANDARD = -std=gnu99
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#-----
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# Compiler flags.
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# -g*: generate debugging information
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# -O*: optimization level
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# -f...: tuning, see GCC manual and avr-libc documentation
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# -Wall...: warning level
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||||||
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# -Wa,...: tell GCC to pass this to the assembler.
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||||||
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# -adhlns...: create assembler listing
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#
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||||||
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# Flags for C and C++ (arm-elf-gcc/arm-elf-g++)
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||||||
|
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||||||
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ifeq ($(DEBUG),YES)
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CFLAGS = -g$(DEBUGF)
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||||||
|
endif
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||||||
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||||||
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CFLAGS += -O$(OPT)
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||||||
|
CFLAGS += -mcpu=$(MCU) -mthumb
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||||||
|
CFLAGS += $(CDEFS)
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||||||
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CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS)) -I.
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||||||
|
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||||||
|
CFLAGS += -mapcs-frame
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||||||
|
CFLAGS += -fomit-frame-pointer
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||||||
|
ifeq ($(CODE_SOURCERY), YES)
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||||||
|
CFLAGS += -fpromote-loop-indices
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||||||
|
endif
|
||||||
|
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||||||
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CFLAGS += -Wall
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||||||
|
CFLAGS += -Werror
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||||||
|
CFLAGS += -Wa,-adhlns=$(addprefix $(OUTDIR)/, $(notdir $(addsuffix .lst, $(basename $<))))
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||||||
|
# Compiler flags to generate dependency files:
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||||||
|
CFLAGS += -MD -MP -MF $(OUTDIR)/dep/$(@F).d
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||||||
|
|
||||||
|
# flags only for C
|
||||||
|
#CONLYFLAGS += -Wnested-externs
|
||||||
|
CONLYFLAGS += $(CSTANDARD)
|
||||||
|
|
||||||
|
# Assembler flags.
|
||||||
|
# -Wa,...: tell GCC to pass this to the assembler.
|
||||||
|
# -ahlns: create listing
|
||||||
|
ASFLAGS = -mcpu=$(MCU) -mthumb -I. -x assembler-with-cpp
|
||||||
|
ASFLAGS += $(ADEFS)
|
||||||
|
ASFLAGS += -Wa,-adhlns=$(addprefix $(OUTDIR)/, $(notdir $(addsuffix .lst, $(basename $<))))
|
||||||
|
ASFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS))
|
||||||
|
|
||||||
|
MATH_LIB = -lm
|
||||||
|
|
||||||
|
# Linker flags.
|
||||||
|
# -Wl,...: tell GCC to pass this to linker.
|
||||||
|
# -Map: create map file
|
||||||
|
# --cref: add cross reference to map file
|
||||||
|
LDFLAGS = -nostartfiles -Wl,-Map=$(OUTDIR)/$(TARGET).map,--cref,--gc-sections
|
||||||
|
LDFLAGS += $(patsubst %,-L%,$(EXTRA_LIBDIRS))
|
||||||
|
LDFLAGS += -lc
|
||||||
|
LDFLAGS += $(patsubst %,-l%,$(EXTRA_LIBS))
|
||||||
|
LDFLAGS += $(MATH_LIB)
|
||||||
|
LDFLAGS += -lc -lgcc
|
||||||
|
|
||||||
|
# Set linker-script name depending on selected submodel name
|
||||||
|
LDFLAGS +=-T$(LINKERSCRIPTPATH)/link_stm32f10x_$(MODEL).ld
|
||||||
|
|
||||||
|
# ---------------------------------------------------------------------------
|
||||||
|
# Options for OpenOCD flash-programming
|
||||||
|
# see openocd.pdf/openocd.texi for further information
|
||||||
|
#
|
||||||
|
OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).elf
|
||||||
|
# if OpenOCD is in the $PATH just set OPENOCDEXE=openocd
|
||||||
|
OOCD_EXE=openocd
|
||||||
|
# debug level
|
||||||
|
OOCD_CL=-d0
|
||||||
|
# interface and board/target settings (using the OOCD target-library here)
|
||||||
|
OOCD_CL+=-f ../Project/OpenOCD/floss-jtag.openpilot.cfg -f ../Project/OpenOCD/stm32.cfg
|
||||||
|
# initialize
|
||||||
|
OOCD_CL+=-c init
|
||||||
|
# show the targets
|
||||||
|
OOCD_CL+=-c targets
|
||||||
|
# commands to prepare flash-write
|
||||||
|
OOCD_CL+= -c "reset halt"
|
||||||
|
# flash erase
|
||||||
|
OOCD_CL+=-c "stm32x mass_erase 0"
|
||||||
|
# flash-write
|
||||||
|
OOCD_CL+=-c "flash write_image $(OOCD_LOADFILE)"
|
||||||
|
# Verify
|
||||||
|
OOCD_CL+=-c "verify_image $(OOCD_LOADFILE)"
|
||||||
|
# reset target
|
||||||
|
OOCD_CL+=-c "reset run"
|
||||||
|
# terminate OOCD after programming
|
||||||
|
OOCD_CL+=-c shutdown
|
||||||
|
# ---------------------------------------------------------------------------
|
||||||
|
|
||||||
|
|
||||||
|
# Define programs and commands.
|
||||||
|
CC = $(TCHAIN_PREFIX)gcc
|
||||||
|
CPP = $(TCHAIN_PREFIX)g++
|
||||||
|
AR = $(TCHAIN_PREFIX)ar
|
||||||
|
OBJCOPY = $(TCHAIN_PREFIX)objcopy
|
||||||
|
OBJDUMP = $(TCHAIN_PREFIX)objdump
|
||||||
|
SIZE = $(TCHAIN_PREFIX)size
|
||||||
|
NM = $(TCHAIN_PREFIX)nm
|
||||||
|
REMOVE = $(REMOVE_CMD) -f
|
||||||
|
###SHELL = sh
|
||||||
|
###COPY = cp
|
||||||
|
|
||||||
|
|
||||||
|
# Define Messages
|
||||||
|
# English
|
||||||
|
MSG_ERRORS_NONE = Errors: none
|
||||||
|
MSG_BEGIN = "-------- begin (mode: $(RUN_MODE)) --------"
|
||||||
|
MSG_END = -------- end --------
|
||||||
|
MSG_SIZE_BEFORE = Size before:
|
||||||
|
MSG_SIZE_AFTER = Size after build:
|
||||||
|
MSG_LOAD_FILE = Creating load file:
|
||||||
|
MSG_EXTENDED_LISTING = Creating Extended Listing/Disassembly:
|
||||||
|
MSG_SYMBOL_TABLE = Creating Symbol Table:
|
||||||
|
MSG_LINKING = "**** Linking :"
|
||||||
|
MSG_COMPILING = "**** Compiling C :"
|
||||||
|
MSG_COMPILING_ARM = "**** Compiling C (ARM-only):"
|
||||||
|
MSG_COMPILINGCPP = "Compiling C++ :"
|
||||||
|
MSG_COMPILINGCPP_ARM = "Compiling C++ (ARM-only):"
|
||||||
|
MSG_ASSEMBLING = "**** Assembling:"
|
||||||
|
MSG_ASSEMBLING_ARM = "****Assembling (ARM-only):"
|
||||||
|
MSG_CLEANING = Cleaning project:
|
||||||
|
MSG_FORMATERROR = Can not handle output-format
|
||||||
|
MSG_ASMFROMC = "Creating asm-File from C-Source:"
|
||||||
|
MSG_ASMFROMC_ARM = "Creating asm-File from C-Source (ARM-only):"
|
||||||
|
|
||||||
|
# List of all source files.
|
||||||
|
ALLSRC = $(ASRCARM) $(ASRC) $(SRCARM) $(SRC) $(CPPSRCARM) $(CPPSRC)
|
||||||
|
# List of all source files without directory and file-extension.
|
||||||
|
ALLSRCBASE = $(notdir $(basename $(ALLSRC)))
|
||||||
|
|
||||||
|
# Define all object files.
|
||||||
|
ALLOBJ = $(addprefix $(OUTDIR)/, $(addsuffix .o, $(ALLSRCBASE)))
|
||||||
|
|
||||||
|
# Define all listing files (used for make clean).
|
||||||
|
LSTFILES = $(addprefix $(OUTDIR)/, $(addsuffix .lst, $(ALLSRCBASE)))
|
||||||
|
# Define all depedency-files (used for make clean).
|
||||||
|
DEPFILES = $(addprefix $(OUTDIR)/dep/, $(addsuffix .o.d, $(ALLSRCBASE)))
|
||||||
|
|
||||||
|
elf: $(OUTDIR)/$(TARGET).elf
|
||||||
|
lss: $(OUTDIR)/$(TARGET).lss
|
||||||
|
sym: $(OUTDIR)/$(TARGET).sym
|
||||||
|
hex: $(OUTDIR)/$(TARGET).hex
|
||||||
|
bin: $(OUTDIR)/$(TARGET).bin
|
||||||
|
|
||||||
|
# Default target.
|
||||||
|
#all: begin gccversion sizebefore build sizeafter finished end
|
||||||
|
all: begin gccversion build sizeafter finished end
|
||||||
|
|
||||||
|
ifeq ($(LOADFORMAT),ihex)
|
||||||
|
build: elf hex lss sym
|
||||||
|
else
|
||||||
|
ifeq ($(LOADFORMAT),binary)
|
||||||
|
build: elf bin lss sym
|
||||||
|
else
|
||||||
|
ifeq ($(LOADFORMAT),both)
|
||||||
|
build: elf hex bin lss sym
|
||||||
|
else
|
||||||
|
$(error "$(MSG_FORMATERROR) $(FORMAT)")
|
||||||
|
endif
|
||||||
|
endif
|
||||||
|
endif
|
||||||
|
|
||||||
|
|
||||||
|
# Eye candy.
|
||||||
|
begin:
|
||||||
|
## @echo
|
||||||
|
@echo $(MSG_BEGIN)
|
||||||
|
|
||||||
|
finished:
|
||||||
|
## @echo $(MSG_ERRORS_NONE)
|
||||||
|
|
||||||
|
end:
|
||||||
|
@echo $(MSG_END)
|
||||||
|
## @echo
|
||||||
|
|
||||||
|
# Display sizes of sections.
|
||||||
|
ELFSIZE = $(SIZE) -A $(OUTDIR)/$(TARGET).elf
|
||||||
|
##ELFSIZE = $(SIZE) --format=Berkeley --common $(OUTDIR)/$(TARGET).elf
|
||||||
|
sizebefore:
|
||||||
|
# @if [ -f $(OUTDIR)/$(TARGET).elf ]; then echo; echo $(MSG_SIZE_BEFORE); $(ELFSIZE); echo; fi
|
||||||
|
|
||||||
|
sizeafter:
|
||||||
|
# @if [ -f $(OUTDIR)/$(TARGET).elf ]; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); echo; fi
|
||||||
|
@echo $(MSG_SIZE_AFTER)
|
||||||
|
$(ELFSIZE)
|
||||||
|
|
||||||
|
# Display compiler version information.
|
||||||
|
gccversion :
|
||||||
|
@$(CC) --version
|
||||||
|
# @echo $(ALLOBJ)
|
||||||
|
|
||||||
|
# Program the device.
|
||||||
|
ifeq ($(FLASH_TOOL),OPENOCD)
|
||||||
|
# Program the device with Dominic Rath's OPENOCD in "batch-mode", needs cfg and "reset-script".
|
||||||
|
program: $(OUTDIR)/$(TARGET).elf
|
||||||
|
@echo "Programming with OPENOCD"
|
||||||
|
$(OOCD_EXE) $(OOCD_CL)
|
||||||
|
endif
|
||||||
|
|
||||||
|
# Create final output file (.hex) from ELF output file.
|
||||||
|
%.hex: %.elf
|
||||||
|
## @echo
|
||||||
|
@echo $(MSG_LOAD_FILE) $@
|
||||||
|
$(OBJCOPY) -O ihex $< $@
|
||||||
|
|
||||||
|
# Create final output file (.bin) from ELF output file.
|
||||||
|
%.bin: %.elf
|
||||||
|
## @echo
|
||||||
|
@echo $(MSG_LOAD_FILE) $@
|
||||||
|
$(OBJCOPY) -O binary $< $@
|
||||||
|
|
||||||
|
# Create extended listing file/disassambly from ELF output file.
|
||||||
|
# using objdump testing: option -C
|
||||||
|
%.lss: %.elf
|
||||||
|
## @echo
|
||||||
|
@echo $(MSG_EXTENDED_LISTING) $@
|
||||||
|
$(OBJDUMP) -h -S -C -r $< > $@
|
||||||
|
# $(OBJDUMP) -x -S $< > $@
|
||||||
|
|
||||||
|
# Create a symbol table from ELF output file.
|
||||||
|
%.sym: %.elf
|
||||||
|
## @echo
|
||||||
|
@echo $(MSG_SYMBOL_TABLE) $@
|
||||||
|
$(NM) -n $< > $@
|
||||||
|
|
||||||
|
# Link: create ELF output file from object files.
|
||||||
|
.SECONDARY : $(TARGET).elf
|
||||||
|
.PRECIOUS : $(ALLOBJ)
|
||||||
|
%.elf: $(ALLOBJ)
|
||||||
|
@echo
|
||||||
|
@echo $(MSG_LINKING) $@
|
||||||
|
# use $(CC) for C-only projects or $(CPP) for C++-projects:
|
||||||
|
$(CC) $(THUMB) $(CFLAGS) $(ALLOBJ) --output $@ $(LDFLAGS)
|
||||||
|
# $(CPP) $(THUMB) $(CFLAGS) $(ALLOBJ) --output $@ $(LDFLAGS)
|
||||||
|
|
||||||
|
|
||||||
|
# Assemble: create object files from assembler source files.
|
||||||
|
define ASSEMBLE_TEMPLATE
|
||||||
|
$(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
|
||||||
|
## @echo
|
||||||
|
@echo $(MSG_ASSEMBLING) $$< "->" $$@
|
||||||
|
$(CC) -c $(THUMB) $$(ASFLAGS) $$< -o $$@
|
||||||
|
endef
|
||||||
|
$(foreach src, $(ASRC), $(eval $(call ASSEMBLE_TEMPLATE, $(src))))
|
||||||
|
|
||||||
|
# Assemble: create object files from assembler source files. ARM-only
|
||||||
|
define ASSEMBLE_ARM_TEMPLATE
|
||||||
|
$(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
|
||||||
|
## @echo
|
||||||
|
@echo $(MSG_ASSEMBLING_ARM) $$< "->" $$@
|
||||||
|
$(CC) -c $$(ASFLAGS) $$< -o $$@
|
||||||
|
endef
|
||||||
|
$(foreach src, $(ASRCARM), $(eval $(call ASSEMBLE_ARM_TEMPLATE, $(src))))
|
||||||
|
|
||||||
|
|
||||||
|
# Compile: create object files from C source files.
|
||||||
|
define COMPILE_C_TEMPLATE
|
||||||
|
$(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
|
||||||
|
## @echo
|
||||||
|
@echo $(MSG_COMPILING) $$< "->" $$@
|
||||||
|
$(CC) -c $(THUMB) $$(CFLAGS) $$(CONLYFLAGS) $$< -o $$@
|
||||||
|
endef
|
||||||
|
$(foreach src, $(SRC), $(eval $(call COMPILE_C_TEMPLATE, $(src))))
|
||||||
|
|
||||||
|
# Compile: create object files from C source files. ARM-only
|
||||||
|
define COMPILE_C_ARM_TEMPLATE
|
||||||
|
$(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
|
||||||
|
## @echo
|
||||||
|
@echo $(MSG_COMPILING_ARM) $$< "->" $$@
|
||||||
|
$(CC) -c $$(CFLAGS) $$(CONLYFLAGS) $$< -o $$@
|
||||||
|
endef
|
||||||
|
$(foreach src, $(SRCARM), $(eval $(call COMPILE_C_ARM_TEMPLATE, $(src))))
|
||||||
|
|
||||||
|
|
||||||
|
# Compile: create object files from C++ source files.
|
||||||
|
define COMPILE_CPP_TEMPLATE
|
||||||
|
$(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
|
||||||
|
## @echo
|
||||||
|
@echo $(MSG_COMPILINGCPP) $$< "->" $$@
|
||||||
|
$(CC) -c $(THUMB) $$(CFLAGS) $$(CPPFLAGS) $$< -o $$@
|
||||||
|
endef
|
||||||
|
$(foreach src, $(CPPSRC), $(eval $(call COMPILE_CPP_TEMPLATE, $(src))))
|
||||||
|
|
||||||
|
# Compile: create object files from C++ source files. ARM-only
|
||||||
|
define COMPILE_CPP_ARM_TEMPLATE
|
||||||
|
$(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
|
||||||
|
## @echo
|
||||||
|
@echo $(MSG_COMPILINGCPP_ARM) $$< "->" $$@
|
||||||
|
$(CC) -c $$(CFLAGS) $$(CPPFLAGS) $$< -o $$@
|
||||||
|
endef
|
||||||
|
$(foreach src, $(CPPSRCARM), $(eval $(call COMPILE_CPP_ARM_TEMPLATE, $(src))))
|
||||||
|
|
||||||
|
|
||||||
|
# Compile: create assembler files from C source files. ARM/Thumb
|
||||||
|
$(SRC:.c=.s) : %.s : %.c
|
||||||
|
@echo $(MSG_ASMFROMC) $< to $@
|
||||||
|
$(CC) $(THUMB) -S $(CFLAGS) $(CONLYFLAGS) $< -o $@
|
||||||
|
|
||||||
|
# Compile: create assembler files from C source files. ARM only
|
||||||
|
$(SRCARM:.c=.s) : %.s : %.c
|
||||||
|
@echo $(MSG_ASMFROMC_ARM) $< to $@
|
||||||
|
$(CC) -S $(CFLAGS) $(CONLYFLAGS) $< -o $@
|
||||||
|
|
||||||
|
# Generate Doxygen documents
|
||||||
|
docs:
|
||||||
|
doxygen $(DOXYGENDIR)/doxygen.cfg
|
||||||
|
|
||||||
|
# Target: clean project.
|
||||||
|
clean: begin clean_list finished end
|
||||||
|
|
||||||
|
clean_list :
|
||||||
|
## @echo
|
||||||
|
@echo $(MSG_CLEANING)
|
||||||
|
$(REMOVE) $(OUTDIR)/$(TARGET).map
|
||||||
|
$(REMOVE) $(OUTDIR)/$(TARGET).elf
|
||||||
|
$(REMOVE) $(OUTDIR)/$(TARGET).hex
|
||||||
|
$(REMOVE) $(OUTDIR)/$(TARGET).bin
|
||||||
|
$(REMOVE) $(OUTDIR)/$(TARGET).sym
|
||||||
|
$(REMOVE) $(OUTDIR)/$(TARGET).lss
|
||||||
|
$(REMOVE) $(ALLOBJ)
|
||||||
|
$(REMOVE) $(LSTFILES)
|
||||||
|
$(REMOVE) $(DEPFILES)
|
||||||
|
$(REMOVE) $(SRC:.c=.s)
|
||||||
|
$(REMOVE) $(SRCARM:.c=.s)
|
||||||
|
$(REMOVE) $(CPPSRC:.cpp=.s)
|
||||||
|
$(REMOVE) $(CPPSRCARM:.cpp=.s)
|
||||||
|
|
||||||
|
|
||||||
|
# Create output files directory
|
||||||
|
# all known MS Windows OS define the ComSpec environment variable
|
||||||
|
ifdef ComSpec
|
||||||
|
$(shell md $(OUTDIR) 2>NUL)
|
||||||
|
else
|
||||||
|
$(shell mkdir $(OUTDIR) 2>/dev/null)
|
||||||
|
endif
|
||||||
|
|
||||||
|
# Include the dependency files.
|
||||||
|
ifdef ComSpec
|
||||||
|
-include $(shell md $(OUTDIR)\dep 2>NUL) $(wildcard $(OUTDIR)/dep/*)
|
||||||
|
else
|
||||||
|
-include $(shell mkdir $(OUTDIR) 2>/dev/null) $(shell mkdir $(OUTDIR)/dep 2>/dev/null) $(wildcard $(OUTDIR)/dep/*)
|
||||||
|
endif
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
# Listing of phony targets.
|
||||||
|
.PHONY : all begin finish end sizebefore sizeafter gccversion \
|
||||||
|
build elf hex bin lss sym clean clean_list program
|
||||||
|
|
||||||
310
flight/PipBee/inc/pios_board.h
Normal file
310
flight/PipBee/inc/pios_board.h
Normal file
@ -0,0 +1,310 @@
|
|||||||
|
/**
|
||||||
|
******************************************************************************
|
||||||
|
*
|
||||||
|
* @file pios_board.h
|
||||||
|
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||||
|
* @brief Defines board hardware for the OpenPilot Version 1.1 hardware.
|
||||||
|
* @see The GNU Public License (GPL) Version 3
|
||||||
|
*
|
||||||
|
*****************************************************************************/
|
||||||
|
/*
|
||||||
|
* This program is free software; you can redistribute it and/or modify
|
||||||
|
* it under the terms of the GNU General Public License as published by
|
||||||
|
* the Free Software Foundation; either version 3 of the License, or
|
||||||
|
* (at your option) any later version.
|
||||||
|
*
|
||||||
|
* This program is distributed in the hope that it will be useful, but
|
||||||
|
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
||||||
|
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||||||
|
* for more details.
|
||||||
|
*
|
||||||
|
* You should have received a copy of the GNU General Public License along
|
||||||
|
* with this program; if not, write to the Free Software Foundation, Inc.,
|
||||||
|
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||||
|
*/
|
||||||
|
|
||||||
|
|
||||||
|
#ifndef PIOS_BOARD_H
|
||||||
|
#define PIOS_BOARD_H
|
||||||
|
|
||||||
|
|
||||||
|
//------------------------
|
||||||
|
// Timers and Channels Used
|
||||||
|
//------------------------
|
||||||
|
/*
|
||||||
|
Timer | Channel 1 | Channel 2 | Channel 3 | Channel 4
|
||||||
|
------+-----------+-----------+-----------+----------
|
||||||
|
TIM1 | | | |
|
||||||
|
TIM2 | --------------- PIOS_DELAY -----------------
|
||||||
|
TIM3 | | | |
|
||||||
|
TIM4 | | | |
|
||||||
|
TIM5 | | | |
|
||||||
|
TIM6 | | | |
|
||||||
|
TIM7 | | | |
|
||||||
|
TIM8 | | | |
|
||||||
|
------+-----------+-----------+-----------+----------
|
||||||
|
*/
|
||||||
|
|
||||||
|
//------------------------
|
||||||
|
// DMA Channels Used
|
||||||
|
//------------------------
|
||||||
|
/* Channel 1 - */
|
||||||
|
/* Channel 2 - */
|
||||||
|
/* Channel 3 - */
|
||||||
|
/* Channel 4 - */
|
||||||
|
/* Channel 5 - */
|
||||||
|
/* Channel 6 - */
|
||||||
|
/* Channel 7 - */
|
||||||
|
/* Channel 8 - */
|
||||||
|
/* Channel 9 - */
|
||||||
|
/* Channel 10 - */
|
||||||
|
/* Channel 11 - */
|
||||||
|
/* Channel 12 - */
|
||||||
|
|
||||||
|
//------------------------
|
||||||
|
// PIOS_LED
|
||||||
|
//------------------------
|
||||||
|
#define PIOS_LED_LED1_GPIO_PORT GPIOA
|
||||||
|
#define PIOS_LED_LED1_GPIO_PIN GPIO_Pin_3
|
||||||
|
#define PIOS_LED_LED1_GPIO_CLK RCC_APB2Periph_GPIOA
|
||||||
|
#define PIOS_LED_NUM 1
|
||||||
|
#define PIOS_LED_PORTS { PIOS_LED_LED1_GPIO_PORT }
|
||||||
|
#define PIOS_LED_PINS { PIOS_LED_LED1_GPIO_PIN }
|
||||||
|
#define PIOS_LED_CLKS { PIOS_LED_LED1_GPIO_CLK }
|
||||||
|
|
||||||
|
//-------------------------
|
||||||
|
// Delay Timer
|
||||||
|
//-------------------------
|
||||||
|
#define PIOS_DELAY_TIMER TIM2
|
||||||
|
#define PIOS_DELAY_TIMER_RCC_FUNC RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE)
|
||||||
|
|
||||||
|
//-------------------------
|
||||||
|
// System Settings
|
||||||
|
//-------------------------
|
||||||
|
#define PIOS_MASTER_CLOCK 72000000
|
||||||
|
#define PIOS_PERIPHERAL_CLOCK (PIOS_MASTER_CLOCK / 2)
|
||||||
|
#if defined(USE_BOOTLOADER)
|
||||||
|
#define PIOS_NVIC_VECTTAB_FLASH ((uint32_t)0x08006000)
|
||||||
|
#else
|
||||||
|
#define PIOS_NVIC_VECTTAB_FLASH ((uint32_t)0x08000000)
|
||||||
|
#endif
|
||||||
|
|
||||||
|
//-------------------------
|
||||||
|
// Interrupt Priorities
|
||||||
|
//-------------------------
|
||||||
|
#define PIOS_IRQ_PRIO_LOW 12 // lower than RTOS
|
||||||
|
#define PIOS_IRQ_PRIO_MID 8 // higher than RTOS
|
||||||
|
#define PIOS_IRQ_PRIO_HIGH 5 // for SPI, ADC, I2C etc...
|
||||||
|
#define PIOS_IRQ_PRIO_HIGHEST 4 // for USART etc...
|
||||||
|
|
||||||
|
//------------------------
|
||||||
|
// PIOS_I2C
|
||||||
|
//------------------------
|
||||||
|
#define PIOS_I2C_PORT I2C1
|
||||||
|
#define PIOS_I2C_CLK RCC_APB1Periph_I2C1
|
||||||
|
#define PIOS_I2C_GPIO_PORT GPIOB
|
||||||
|
#define PIOS_I2C_SCL_PIN GPIO_Pin_6
|
||||||
|
#define PIOS_I2C_SDA_PIN GPIO_Pin_7
|
||||||
|
#define PIOS_I2C_DUTY_CYCLE I2C_DutyCycle_2
|
||||||
|
#define PIOS_I2C_BUS_FREQ 400000 // bit/s
|
||||||
|
#define PIOS_I2C_TIMEOUT_VALUE 50 // ms
|
||||||
|
#define PIOS_I2C_IRQ_EV_HANDLER void I2C1_EV_IRQHandler(void)
|
||||||
|
#define PIOS_I2C_IRQ_ER_HANDLER void I2C1_ER_IRQHandler(void)
|
||||||
|
#define PIOS_I2C_IRQ_EV_CHANNEL I2C1_EV_IRQn
|
||||||
|
#define PIOS_I2C_IRQ_ER_CHANNEL I2C1_EV_IRQn
|
||||||
|
#define PIOS_I2C_IRQ_EV_PRIORITY 2
|
||||||
|
#define PIOS_I2C_IRQ_ER_PRIORITY 2
|
||||||
|
|
||||||
|
//-------------------------
|
||||||
|
// SPI
|
||||||
|
//
|
||||||
|
// See also pios_board.c
|
||||||
|
//-------------------------
|
||||||
|
#define PIOS_SPI_OP 0
|
||||||
|
|
||||||
|
//-------------------------
|
||||||
|
// PIOS_USART
|
||||||
|
//-------------------------
|
||||||
|
#define PIOS_USART_RX_BUFFER_SIZE 256
|
||||||
|
#define PIOS_USART_TX_BUFFER_SIZE 256
|
||||||
|
#define PIOS_COM_AUX 0
|
||||||
|
#define PIOS_COM_DEBUG PIOS_COM_AUX
|
||||||
|
|
||||||
|
#if 0
|
||||||
|
//-------------------------
|
||||||
|
// ADC
|
||||||
|
// PIOS_ADC_PinGet(0) = Accel Z
|
||||||
|
// PIOS_ADC_PinGet(1) =
|
||||||
|
// PIOS_ADC_PinGet(2) =
|
||||||
|
// PIOS_ADC_PinGet(3) =
|
||||||
|
// PIOS_ADC_PinGet(4) = Accel ?
|
||||||
|
// PIOS_ADC_PinGet(5) =
|
||||||
|
// PIOS_ADC_PinGet(6) =
|
||||||
|
// PIOS_ADC_PinGet(7) =
|
||||||
|
//-------------------------
|
||||||
|
//#define PIOS_ADC_OVERSAMPLING_RATE 1
|
||||||
|
#define PIOS_ADC_USE_TEMP_SENSOR 0
|
||||||
|
#define PIOS_ADC_TEMP_SENSOR_ADC ADC1
|
||||||
|
#define PIOS_ADC_TEMP_SENSOR_ADC_CHANNEL 1
|
||||||
|
|
||||||
|
#define PIOS_ADC_PIN1_GPIO_PORT GPIOA // PA0 (Accel Z)
|
||||||
|
#define PIOS_ADC_PIN1_GPIO_PIN GPIO_Pin_0 // ADC12_IN0
|
||||||
|
#define PIOS_ADC_PIN1_GPIO_CHANNEL ADC_Channel_0
|
||||||
|
#define PIOS_ADC_PIN1_ADC ADC1
|
||||||
|
#define PIOS_ADC_PIN1_ADC_NUMBER 1
|
||||||
|
|
||||||
|
#define PIOS_ADC_PIN2_GPIO_PORT GPIOA // PA1 (Accel Y)
|
||||||
|
#define PIOS_ADC_PIN2_GPIO_PIN GPIO_Pin_1 // ADC123_IN1
|
||||||
|
#define PIOS_ADC_PIN2_GPIO_CHANNEL ADC_Channel_1
|
||||||
|
#define PIOS_ADC_PIN2_ADC ADC1
|
||||||
|
#define PIOS_ADC_PIN2_ADC_NUMBER 2
|
||||||
|
|
||||||
|
#define PIOS_ADC_PIN3_GPIO_PORT GPIOA // PA1 (Accel X)
|
||||||
|
#define PIOS_ADC_PIN3_GPIO_PIN GPIO_Pin_2 // ADC12_IN2
|
||||||
|
#define PIOS_ADC_PIN3_GPIO_CHANNEL ADC_Channel_2
|
||||||
|
#define PIOS_ADC_PIN3_ADC ADC1
|
||||||
|
#define PIOS_ADC_PIN3_ADC_NUMBER 3
|
||||||
|
|
||||||
|
#define PIOS_ADC_PIN4_GPIO_PORT GPIOA // PA4 (Gyro X)
|
||||||
|
#define PIOS_ADC_PIN4_GPIO_PIN GPIO_Pin_4 // ADC12_IN4
|
||||||
|
#define PIOS_ADC_PIN4_GPIO_CHANNEL ADC_Channel_4
|
||||||
|
#define PIOS_ADC_PIN4_ADC ADC1
|
||||||
|
#define PIOS_ADC_PIN4_ADC_NUMBER 4
|
||||||
|
|
||||||
|
#define PIOS_ADC_PIN5_GPIO_PORT GPIOA // PA5 (Gyro Y)
|
||||||
|
#define PIOS_ADC_PIN5_GPIO_PIN GPIO_Pin_5 // ADC12_IN5
|
||||||
|
#define PIOS_ADC_PIN5_GPIO_CHANNEL ADC_Channel_5
|
||||||
|
#define PIOS_ADC_PIN5_ADC ADC2
|
||||||
|
#define PIOS_ADC_PIN5_ADC_NUMBER 1
|
||||||
|
|
||||||
|
#define PIOS_ADC_PIN6_GPIO_PORT GPIOA // PA6 (XY Temp)
|
||||||
|
#define PIOS_ADC_PIN6_GPIO_PIN GPIO_Pin_6 // ADC12_IN6
|
||||||
|
#define PIOS_ADC_PIN6_GPIO_CHANNEL ADC_Channel_6
|
||||||
|
#define PIOS_ADC_PIN6_ADC ADC2
|
||||||
|
#define PIOS_ADC_PIN6_ADC_NUMBER 2
|
||||||
|
|
||||||
|
#define PIOS_ADC_PIN7_GPIO_PORT GPIOA // PA7 (Gyro Z)
|
||||||
|
#define PIOS_ADC_PIN7_GPIO_PIN GPIO_Pin_7 // ADC12_IN7
|
||||||
|
#define PIOS_ADC_PIN7_GPIO_CHANNEL ADC_Channel_7
|
||||||
|
#define PIOS_ADC_PIN7_ADC ADC2
|
||||||
|
#define PIOS_ADC_PIN7_ADC_NUMBER 3
|
||||||
|
|
||||||
|
#define PIOS_ADC_PIN8_GPIO_PORT GPIOB // PB1 (Z Temp)
|
||||||
|
#define PIOS_ADC_PIN8_GPIO_PIN GPIO_Pin_1 // ADC12_IN9
|
||||||
|
#define PIOS_ADC_PIN8_GPIO_CHANNEL ADC_Channel_9
|
||||||
|
#define PIOS_ADC_PIN8_ADC ADC2
|
||||||
|
#define PIOS_ADC_PIN8_ADC_NUMBER 4
|
||||||
|
|
||||||
|
#define PIOS_ADC_NUM_PINS 8
|
||||||
|
|
||||||
|
#define PIOS_ADC_PORTS { PIOS_ADC_PIN1_GPIO_PORT, PIOS_ADC_PIN2_GPIO_PORT, PIOS_ADC_PIN3_GPIO_PORT, PIOS_ADC_PIN4_GPIO_PORT, PIOS_ADC_PIN5_GPIO_PORT, PIOS_ADC_PIN6_GPIO_PORT, PIOS_ADC_PIN7_GPIO_PORT, PIOS_ADC_PIN8_GPIO_PORT }
|
||||||
|
#define PIOS_ADC_PINS { PIOS_ADC_PIN1_GPIO_PIN, PIOS_ADC_PIN2_GPIO_PIN, PIOS_ADC_PIN3_GPIO_PIN, PIOS_ADC_PIN4_GPIO_PIN, PIOS_ADC_PIN5_GPIO_PIN, PIOS_ADC_PIN6_GPIO_PIN, PIOS_ADC_PIN7_GPIO_PIN, PIOS_ADC_PIN8_GPIO_PIN }
|
||||||
|
#define PIOS_ADC_CHANNELS { PIOS_ADC_PIN1_GPIO_CHANNEL, PIOS_ADC_PIN2_GPIO_CHANNEL, PIOS_ADC_PIN3_GPIO_CHANNEL, PIOS_ADC_PIN4_GPIO_CHANNEL, PIOS_ADC_PIN5_GPIO_CHANNEL, PIOS_ADC_PIN6_GPIO_CHANNEL, PIOS_ADC_PIN7_GPIO_CHANNEL, PIOS_ADC_PIN8_GPIO_CHANNEL }
|
||||||
|
#define PIOS_ADC_MAPPING { PIOS_ADC_PIN1_ADC, PIOS_ADC_PIN2_ADC, PIOS_ADC_PIN3_ADC, PIOS_ADC_PIN4_ADC, PIOS_ADC_PIN5_ADC, PIOS_ADC_PIN6_ADC, PIOS_ADC_PIN7_ADC, PIOS_ADC_PIN8_ADC }
|
||||||
|
#define PIOS_ADC_CHANNEL_MAPPING { PIOS_ADC_PIN1_ADC_NUMBER, PIOS_ADC_PIN2_ADC_NUMBER, PIOS_ADC_PIN3_ADC_NUMBER, PIOS_ADC_PIN4_ADC_NUMBER, PIOS_ADC_PIN5_ADC_NUMBER, PIOS_ADC_PIN6_ADC_NUMBER, PIOS_ADC_PIN7_ADC_NUMBER, PIOS_ADC_PIN8_ADC_NUMBER }
|
||||||
|
#define PIOS_ADC_NUM_CHANNELS (PIOS_ADC_NUM_PINS + PIOS_ADC_USE_TEMP_SENSOR)
|
||||||
|
#define PIOS_ADC_NUM_ADC_CHANNELS 2
|
||||||
|
#define PIOS_ADC_USE_ADC2 1
|
||||||
|
#define PIOS_ADC_CLOCK_FUNCTION RCC_APB2PeriphClockCmd(RCC_APB2Periph_ADC1 | RCC_APB2Periph_ADC2, ENABLE)
|
||||||
|
#define PIOS_ADC_ADCCLK RCC_PCLK2_Div8
|
||||||
|
/* RCC_PCLK2_Div2: ADC clock = PCLK2/2 */
|
||||||
|
/* RCC_PCLK2_Div4: ADC clock = PCLK2/4 */
|
||||||
|
/* RCC_PCLK2_Div6: ADC clock = PCLK2/6 */
|
||||||
|
/* RCC_PCLK2_Div8: ADC clock = PCLK2/8 */
|
||||||
|
#define PIOS_ADC_SAMPLE_TIME ADC_SampleTime_239Cycles5
|
||||||
|
/* Sample time: */
|
||||||
|
/* With an ADCCLK = 14 MHz and a sampling time of 293.5 cycles: */
|
||||||
|
/* Tconv = 239.5 + 12.5 = 252 cycles = 18<31>s */
|
||||||
|
/* (1 / (ADCCLK / CYCLES)) = Sample Time (<28>S) */
|
||||||
|
#define PIOS_ADC_IRQ_PRIO PIOS_IRQ_PRIO_HIGH
|
||||||
|
#endif
|
||||||
|
|
||||||
|
//-------------------------
|
||||||
|
// ADC
|
||||||
|
// PIOS_ADC_PinGet(0) = Accel Z
|
||||||
|
// PIOS_ADC_PinGet(1) =
|
||||||
|
// PIOS_ADC_PinGet(2) =
|
||||||
|
// PIOS_ADC_PinGet(3) =
|
||||||
|
// PIOS_ADC_PinGet(4) = Accel ?
|
||||||
|
// PIOS_ADC_PinGet(5) =
|
||||||
|
// PIOS_ADC_PinGet(6) =
|
||||||
|
// PIOS_ADC_PinGet(7) =
|
||||||
|
//-------------------------
|
||||||
|
//#define PIOS_ADC_OVERSAMPLING_RATE 1
|
||||||
|
#define PIOS_ADC_USE_TEMP_SENSOR 0
|
||||||
|
#define PIOS_ADC_TEMP_SENSOR_ADC ADC1
|
||||||
|
#define PIOS_ADC_TEMP_SENSOR_ADC_CHANNEL 1
|
||||||
|
|
||||||
|
#define PIOS_ADC_PIN1_GPIO_PORT GPIOA // PA0 (Accel Z)
|
||||||
|
#define PIOS_ADC_PIN1_GPIO_PIN GPIO_Pin_0 // ADC12_IN0
|
||||||
|
#define PIOS_ADC_PIN1_GPIO_CHANNEL ADC_Channel_0
|
||||||
|
#define PIOS_ADC_PIN1_ADC ADC1
|
||||||
|
#define PIOS_ADC_PIN1_ADC_NUMBER 1
|
||||||
|
|
||||||
|
#define PIOS_ADC_PIN2_GPIO_PORT GPIOA // PA1 (Accel Y)
|
||||||
|
#define PIOS_ADC_PIN2_GPIO_PIN GPIO_Pin_1 // ADC123_IN1
|
||||||
|
#define PIOS_ADC_PIN2_GPIO_CHANNEL ADC_Channel_1
|
||||||
|
#define PIOS_ADC_PIN2_ADC ADC1
|
||||||
|
#define PIOS_ADC_PIN2_ADC_NUMBER 2
|
||||||
|
|
||||||
|
#define PIOS_ADC_PIN3_GPIO_PORT GPIOA // PA1 (Accel X)
|
||||||
|
#define PIOS_ADC_PIN3_GPIO_PIN GPIO_Pin_2 // ADC12_IN2
|
||||||
|
#define PIOS_ADC_PIN3_GPIO_CHANNEL ADC_Channel_2
|
||||||
|
#define PIOS_ADC_PIN3_ADC ADC1
|
||||||
|
#define PIOS_ADC_PIN3_ADC_NUMBER 3
|
||||||
|
|
||||||
|
#define PIOS_ADC_PIN4_GPIO_PORT GPIOA // PA4 (Gyro X)
|
||||||
|
#define PIOS_ADC_PIN4_GPIO_PIN GPIO_Pin_4 // ADC12_IN4
|
||||||
|
#define PIOS_ADC_PIN4_GPIO_CHANNEL ADC_Channel_4
|
||||||
|
#define PIOS_ADC_PIN4_ADC ADC2
|
||||||
|
#define PIOS_ADC_PIN4_ADC_NUMBER 1
|
||||||
|
|
||||||
|
#define PIOS_ADC_PIN5_GPIO_PORT GPIOA // PA5 (Gyro Y)
|
||||||
|
#define PIOS_ADC_PIN5_GPIO_PIN GPIO_Pin_5 // ADC12_IN5
|
||||||
|
#define PIOS_ADC_PIN5_GPIO_CHANNEL ADC_Channel_5
|
||||||
|
#define PIOS_ADC_PIN5_ADC ADC2
|
||||||
|
#define PIOS_ADC_PIN5_ADC_NUMBER 2
|
||||||
|
|
||||||
|
#define PIOS_ADC_PIN6_GPIO_PORT GPIOA // PA7 (Gyro Z)
|
||||||
|
#define PIOS_ADC_PIN6_GPIO_PIN GPIO_Pin_7 // ADC12_IN7
|
||||||
|
#define PIOS_ADC_PIN6_GPIO_CHANNEL ADC_Channel_7
|
||||||
|
#define PIOS_ADC_PIN6_ADC ADC2
|
||||||
|
#define PIOS_ADC_PIN6_ADC_NUMBER 3
|
||||||
|
|
||||||
|
#define PIOS_ADC_NUM_PINS 6
|
||||||
|
|
||||||
|
#define PIOS_ADC_PORTS { PIOS_ADC_PIN1_GPIO_PORT, PIOS_ADC_PIN2_GPIO_PORT, PIOS_ADC_PIN3_GPIO_PORT, PIOS_ADC_PIN4_GPIO_PORT, PIOS_ADC_PIN5_GPIO_PORT, PIOS_ADC_PIN6_GPIO_PORT }
|
||||||
|
#define PIOS_ADC_PINS { PIOS_ADC_PIN1_GPIO_PIN, PIOS_ADC_PIN2_GPIO_PIN, PIOS_ADC_PIN3_GPIO_PIN, PIOS_ADC_PIN4_GPIO_PIN, PIOS_ADC_PIN5_GPIO_PIN, PIOS_ADC_PIN6_GPIO_PIN }
|
||||||
|
#define PIOS_ADC_CHANNELS { PIOS_ADC_PIN1_GPIO_CHANNEL, PIOS_ADC_PIN2_GPIO_CHANNEL, PIOS_ADC_PIN3_GPIO_CHANNEL, PIOS_ADC_PIN4_GPIO_CHANNEL, PIOS_ADC_PIN5_GPIO_CHANNEL, PIOS_ADC_PIN6_GPIO_CHANNEL }
|
||||||
|
#define PIOS_ADC_MAPPING { PIOS_ADC_PIN1_ADC, PIOS_ADC_PIN2_ADC, PIOS_ADC_PIN3_ADC, PIOS_ADC_PIN4_ADC, PIOS_ADC_PIN5_ADC, PIOS_ADC_PIN6_ADC }
|
||||||
|
#define PIOS_ADC_CHANNEL_MAPPING { PIOS_ADC_PIN1_ADC_NUMBER, PIOS_ADC_PIN2_ADC_NUMBER, PIOS_ADC_PIN3_ADC_NUMBER, PIOS_ADC_PIN4_ADC_NUMBER, PIOS_ADC_PIN5_ADC_NUMBER, PIOS_ADC_PIN6_ADC_NUMBER }
|
||||||
|
#define PIOS_ADC_NUM_CHANNELS (PIOS_ADC_NUM_PINS + PIOS_ADC_USE_TEMP_SENSOR)
|
||||||
|
#define PIOS_ADC_NUM_ADC_CHANNELS 2
|
||||||
|
#define PIOS_ADC_USE_ADC2 1
|
||||||
|
#define PIOS_ADC_CLOCK_FUNCTION RCC_APB2PeriphClockCmd(RCC_APB2Periph_ADC1 | RCC_APB2Periph_ADC2, ENABLE)
|
||||||
|
#define PIOS_ADC_ADCCLK RCC_PCLK2_Div8
|
||||||
|
/* RCC_PCLK2_Div2: ADC clock = PCLK2/2 */
|
||||||
|
/* RCC_PCLK2_Div4: ADC clock = PCLK2/4 */
|
||||||
|
/* RCC_PCLK2_Div6: ADC clock = PCLK2/6 */
|
||||||
|
/* RCC_PCLK2_Div8: ADC clock = PCLK2/8 */
|
||||||
|
#define PIOS_ADC_SAMPLE_TIME ADC_SampleTime_239Cycles5
|
||||||
|
/* Sample time: */
|
||||||
|
/* With an ADCCLK = 14 MHz and a sampling time of 293.5 cycles: */
|
||||||
|
/* Tconv = 239.5 + 12.5 = 252 cycles = 18<31>s */
|
||||||
|
/* (1 / (ADCCLK / CYCLES)) = Sample Time (<28>S) */
|
||||||
|
#define PIOS_ADC_IRQ_PRIO PIOS_IRQ_PRIO_HIGH
|
||||||
|
|
||||||
|
//-------------------------
|
||||||
|
// GPIO
|
||||||
|
//-------------------------
|
||||||
|
#define PIOS_GPIO_1_PORT GPIOB
|
||||||
|
#define PIOS_GPIO_1_PIN GPIO_Pin_9
|
||||||
|
#define PIOS_GPIO_1_GPIO_CLK RCC_APB2Periph_GPIOB
|
||||||
|
#define PIOS_GPIO_PORTS { PIOS_GPIO_1_PORT }
|
||||||
|
#define PIOS_GPIO_PINS { PIOS_GPIO_1_PIN }
|
||||||
|
#define PIOS_GPIO_CLKS { PIOS_GPIO_1_GPIO_CLK }
|
||||||
|
#define PIOS_GPIO_NUM 1
|
||||||
|
#define SET_ACCEL_2G PIOS_GPIO_On(0);
|
||||||
|
#define SET_ACCEL_6G PIOS_GPIO_Off(0)
|
||||||
|
|
||||||
|
#endif /* PIOS_BOARD_H */
|
||||||
44
flight/PipBee/inc/pios_config.h
Normal file
44
flight/PipBee/inc/pios_config.h
Normal file
@ -0,0 +1,44 @@
|
|||||||
|
/**
|
||||||
|
******************************************************************************
|
||||||
|
*
|
||||||
|
* @file pios_config.h
|
||||||
|
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||||
|
* @brief PiOS configuration header.
|
||||||
|
* - Central compile time config for the project.
|
||||||
|
* @see The GNU Public License (GPL) Version 3
|
||||||
|
*
|
||||||
|
*****************************************************************************/
|
||||||
|
/*
|
||||||
|
* This program is free software; you can redistribute it and/or modify
|
||||||
|
* it under the terms of the GNU General Public License as published by
|
||||||
|
* the Free Software Foundation; either version 3 of the License, or
|
||||||
|
* (at your option) any later version.
|
||||||
|
*
|
||||||
|
* This program is distributed in the hope that it will be useful, but
|
||||||
|
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
||||||
|
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||||||
|
* for more details.
|
||||||
|
*
|
||||||
|
* You should have received a copy of the GNU General Public License along
|
||||||
|
* with this program; if not, write to the Free Software Foundation, Inc.,
|
||||||
|
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||||
|
*/
|
||||||
|
|
||||||
|
|
||||||
|
#ifndef PIOS_CONFIG_H
|
||||||
|
#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_USART
|
||||||
|
#define PIOS_INCLUDE_COM
|
||||||
|
#define PIOS_INCLUDE_GPIO
|
||||||
|
|
||||||
|
|
||||||
|
#endif /* PIOS_CONFIG_H */
|
||||||
34
flight/PipBee/inc/pipbee.h
Normal file
34
flight/PipBee/inc/pipbee.h
Normal file
@ -0,0 +1,34 @@
|
|||||||
|
/**
|
||||||
|
******************************************************************************
|
||||||
|
*
|
||||||
|
* @file pipbee.h
|
||||||
|
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||||
|
* @brief Main PipBee header.
|
||||||
|
* @see The GNU Public License (GPL) Version 3
|
||||||
|
*
|
||||||
|
*****************************************************************************/
|
||||||
|
/*
|
||||||
|
* This program is free software; you can redistribute it and/or modify
|
||||||
|
* it under the terms of the GNU General Public License as published by
|
||||||
|
* the Free Software Foundation; either version 3 of the License, or
|
||||||
|
* (at your option) any later version.
|
||||||
|
*
|
||||||
|
* This program is distributed in the hope that it will be useful, but
|
||||||
|
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
||||||
|
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||||||
|
* for more details.
|
||||||
|
*
|
||||||
|
* You should have received a copy of the GNU General Public License along
|
||||||
|
* with this program; if not, write to the Free Software Foundation, Inc.,
|
||||||
|
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||||
|
*/
|
||||||
|
|
||||||
|
|
||||||
|
#ifndef PIPBEE_H
|
||||||
|
#define PIPBEE_H
|
||||||
|
|
||||||
|
|
||||||
|
/* PIOS Includes */
|
||||||
|
#include <pios.h>
|
||||||
|
|
||||||
|
#endif /* PIPBEE_H */
|
||||||
235
flight/PipBee/pios_board.c
Normal file
235
flight/PipBee/pios_board.c
Normal file
@ -0,0 +1,235 @@
|
|||||||
|
/**
|
||||||
|
******************************************************************************
|
||||||
|
*
|
||||||
|
* @file pios_board.c
|
||||||
|
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||||
|
* @brief Defines board specific static initializers for hardware for the PipBee board.
|
||||||
|
* @see The GNU Public License (GPL) Version 3
|
||||||
|
*
|
||||||
|
*****************************************************************************/
|
||||||
|
/*
|
||||||
|
* This program is free software; you can redistribute it and/or modify
|
||||||
|
* it under the terms of the GNU General Public License as published by
|
||||||
|
* the Free Software Foundation; either version 3 of the License, or
|
||||||
|
* (at your option) any later version.
|
||||||
|
*
|
||||||
|
* This program is distributed in the hope that it will be useful, but
|
||||||
|
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
||||||
|
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||||||
|
* for more details.
|
||||||
|
*
|
||||||
|
* You should have received a copy of the GNU General Public License along
|
||||||
|
* with this program; if not, write to the Free Software Foundation, Inc.,
|
||||||
|
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||||
|
*/
|
||||||
|
|
||||||
|
#include <pios.h>
|
||||||
|
|
||||||
|
#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_op_irq_handler(void);
|
||||||
|
void DMA1_Channel5_IRQHandler() __attribute__ ((alias ("PIOS_SPI_op_irq_handler")));
|
||||||
|
void DMA1_Channel4_IRQHandler() __attribute__ ((alias ("PIOS_SPI_op_irq_handler")));
|
||||||
|
static const struct pios_spi_cfg pios_spi_op_cfg = {
|
||||||
|
.regs = SPI2,
|
||||||
|
.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,
|
||||||
|
},
|
||||||
|
.use_crc = TRUE,
|
||||||
|
.dma = {
|
||||||
|
.ahb_clk = RCC_AHBPeriph_DMA1,
|
||||||
|
|
||||||
|
.irq = {
|
||||||
|
.handler = PIOS_SPI_op_irq_handler,
|
||||||
|
.flags = (DMA1_FLAG_TC4 | DMA1_FLAG_TE4 | DMA1_FLAG_HT4 | DMA1_FLAG_GL4),
|
||||||
|
.init = {
|
||||||
|
.NVIC_IRQChannel = DMA1_Channel4_IRQn,
|
||||||
|
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
|
||||||
|
.NVIC_IRQChannelSubPriority = 0,
|
||||||
|
.NVIC_IRQChannelCmd = ENABLE,
|
||||||
|
},
|
||||||
|
},
|
||||||
|
|
||||||
|
.rx = {
|
||||||
|
.channel = DMA1_Channel4,
|
||||||
|
.init = {
|
||||||
|
.DMA_PeripheralBaseAddr = (uint32_t)&(SPI2->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_Channel5,
|
||||||
|
.init = {
|
||||||
|
.DMA_PeripheralBaseAddr = (uint32_t)&(SPI2->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 = GPIOB,
|
||||||
|
.init = {
|
||||||
|
.GPIO_Pin = GPIO_Pin_12,
|
||||||
|
.GPIO_Speed = GPIO_Speed_50MHz,
|
||||||
|
.GPIO_Mode = GPIO_Mode_IN_FLOATING,
|
||||||
|
},
|
||||||
|
},
|
||||||
|
.sclk = {
|
||||||
|
.gpio = GPIOB,
|
||||||
|
.init = {
|
||||||
|
.GPIO_Pin = GPIO_Pin_13,
|
||||||
|
.GPIO_Speed = GPIO_Speed_50MHz,
|
||||||
|
.GPIO_Mode = GPIO_Mode_IN_FLOATING,
|
||||||
|
},
|
||||||
|
},
|
||||||
|
.miso = {
|
||||||
|
.gpio = GPIOB,
|
||||||
|
.init = {
|
||||||
|
.GPIO_Pin = GPIO_Pin_14,
|
||||||
|
.GPIO_Speed = GPIO_Speed_50MHz,
|
||||||
|
.GPIO_Mode = GPIO_Mode_AF_PP,
|
||||||
|
},
|
||||||
|
},
|
||||||
|
.mosi = {
|
||||||
|
.gpio = GPIOB,
|
||||||
|
.init = {
|
||||||
|
.GPIO_Pin = GPIO_Pin_15,
|
||||||
|
.GPIO_Speed = GPIO_Speed_50MHz,
|
||||||
|
.GPIO_Mode = GPIO_Mode_IN_FLOATING,
|
||||||
|
},
|
||||||
|
},
|
||||||
|
};
|
||||||
|
|
||||||
|
/*
|
||||||
|
* 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);
|
||||||
|
|
||||||
|
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);
|
||||||
|
}
|
||||||
|
|
||||||
|
#endif /* PIOS_INCLUDE_SPI */
|
||||||
|
|
||||||
|
#if defined(PIOS_INCLUDE_USART)
|
||||||
|
#include <pios_usart_priv.h>
|
||||||
|
|
||||||
|
/*
|
||||||
|
* 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 = {
|
||||||
|
.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 = {
|
||||||
|
.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)
|
||||||
|
{
|
||||||
|
PIOS_USART_IRQ_Handler(PIOS_USART_AUX);
|
||||||
|
}
|
||||||
|
|
||||||
|
#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 */
|
||||||
|
|
||||||
72
flight/PipBee/pipbee.c
Normal file
72
flight/PipBee/pipbee.c
Normal file
@ -0,0 +1,72 @@
|
|||||||
|
/**
|
||||||
|
******************************************************************************
|
||||||
|
*
|
||||||
|
* @file pipbee.c
|
||||||
|
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||||
|
* @brief Main PipBee functions
|
||||||
|
* @see The GNU Public License (GPL) Version 3
|
||||||
|
*
|
||||||
|
*****************************************************************************/
|
||||||
|
/*
|
||||||
|
* This program is free software; you can redistribute it and/or modify
|
||||||
|
* it under the terms of the GNU General Public License as published by
|
||||||
|
* the Free Software Foundation; either version 3 of the License, or
|
||||||
|
* (at your option) any later version.
|
||||||
|
*
|
||||||
|
* This program is distributed in the hope that it will be useful, but
|
||||||
|
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
||||||
|
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||||||
|
* for more details.
|
||||||
|
*
|
||||||
|
* You should have received a copy of the GNU General Public License along
|
||||||
|
* with this program; if not, write to the Free Software Foundation, Inc.,
|
||||||
|
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||||
|
*/
|
||||||
|
|
||||||
|
|
||||||
|
/* OpenPilot Includes */
|
||||||
|
#include "pipbee.h"
|
||||||
|
|
||||||
|
/* Global Variables */
|
||||||
|
|
||||||
|
/* Local Variables */
|
||||||
|
|
||||||
|
/* Function Prototypes */
|
||||||
|
|
||||||
|
/**
|
||||||
|
* PipBee Main function
|
||||||
|
*/
|
||||||
|
int main()
|
||||||
|
{
|
||||||
|
/* Brings up System using CMSIS functions, enables the LEDs. */
|
||||||
|
PIOS_SYS_Init();
|
||||||
|
|
||||||
|
/* Delay system */
|
||||||
|
PIOS_DELAY_Init();
|
||||||
|
|
||||||
|
/* Communication system */
|
||||||
|
PIOS_COM_Init();
|
||||||
|
|
||||||
|
/* ADC system */
|
||||||
|
PIOS_ADC_Init();
|
||||||
|
|
||||||
|
/* Magnetic sensor system */
|
||||||
|
PIOS_I2C_Init();
|
||||||
|
|
||||||
|
/* SPI link to master */
|
||||||
|
PIOS_SPI_Init();
|
||||||
|
|
||||||
|
// Main loop
|
||||||
|
while (1) {
|
||||||
|
uint8_t loop_ctr;
|
||||||
|
|
||||||
|
// Alive signal
|
||||||
|
if (loop_ctr++ > 100) {
|
||||||
|
PIOS_LED_Toggle(LED1);
|
||||||
|
loop_ctr = 0;
|
||||||
|
}
|
||||||
|
|
||||||
|
}
|
||||||
|
|
||||||
|
return 0;
|
||||||
|
}
|
||||||
Loading…
x
Reference in New Issue
Block a user