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Code Issues Releases Activity

bl_pipxtreme: bind to new COM driver

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2789 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
stac 2011-02-14 01:17:42 +00:00 committed by stac
parent 5ac55a35e3
commit 3b34cc71b4
2 changed files with 21 additions and 295 deletions
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3
flight/Bootloaders/PipXtreme/inc/pios_config.h
View File

@ -36,11 +36,8 @@
#define PIOS_INCLUDE_DELAY
#define PIOS_INCLUDE_IRQ
#define PIOS_INCLUDE_LED
//#define PIOS_INCLUDE_SPI
#define PIOS_INCLUDE_SYS
//#define PIOS_INCLUDE_USART
#define PIOS_INCLUDE_USB_HID
//#define PIOS_INCLUDE_OPAHRS
#define PIOS_INCLUDE_COM
#define PIOS_INCLUDE_GPIO
#define PIOS_NO_GPS

313
flight/Bootloaders/PipXtreme/pios_board.c
View File

@ -25,14 +25,26 @@
#include <pios.h>
// ***********************************************************************************
#if defined(PIOS_INCLUDE_COM)
#include <pios_com_priv.h>
#endif /* PIOS_INCLUDE_COM */
// ***********************************************************************************
extern const struct pios_com_driver pios_usb_com_driver;
uint32_t pios_com_telem_usb_id;
/**
* PIOS_Board_Init()
* initializes all the core subsystems on this specific hardware
* called from System/openpilot.c
*/
void PIOS_Board_Init(void) {
/* Enable Prefetch Buffer */
FLASH_PrefetchBufferCmd(FLASH_PrefetchBuffer_Enable);
@ -42,300 +54,17 @@ void PIOS_Board_Init(void) {
/* Delay system */
PIOS_DELAY_Init();
/* SPI Init */
// PIOS_SPI_Init();
/* Initialize the PiOS library */
PIOS_COM_Init();
PIOS_GPIO_Init();
#if defined(PIOS_INCLUDE_USB_HID)
PIOS_USB_HID_Init(0);
#endif
//PIOS_I2C_Init();
#if defined(PIOS_INCLUDE_COM)
if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_com_driver, 0)) {
PIOS_DEBUG_Assert(0);
}
#endif /* PIOS_INCLUDE_COM */
#endif /* PIOS_INCLUDE_USB_HID */
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_CRC, ENABLE);//TODO Tirar
}
// ***********************************************************************************
// SPI
#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,
// .regs = SPI2,
// .regs = SPI3,
.init =
{
.SPI_Mode = SPI_Mode_Master,
// .SPI_Mode = SPI_Mode_Slave,
.SPI_Direction = SPI_Direction_2Lines_FullDuplex,
// .SPI_Direction = SPI_Direction_2Lines_RxOnly,
// .SPI_Direction = SPI_Direction_1Line_Rx,
// .SPI_Direction = SPI_Direction_1Line_Tx,
// .SPI_DataSize = SPI_DataSize_16b,
.SPI_DataSize = SPI_DataSize_8b,
.SPI_NSS = SPI_NSS_Soft,
// .SPI_NSS = SPI_NSS_Hard,
.SPI_FirstBit = SPI_FirstBit_MSB,
// .SPI_FirstBit = SPI_FirstBit_LSB,
.SPI_CRCPolynomial = 0,
.SPI_CPOL = SPI_CPOL_Low,
// .SPI_CPOL = SPI_CPOL_High,
.SPI_CPHA = SPI_CPHA_1Edge,
// .SPI_CPHA = SPI_CPHA_2Edge,
// .SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_2, // fastest SCLK
// .SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_4,
// .SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_8,
// .SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_16,
// .SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_32,
// .SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_64,
// .SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_128,
.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_256, // slowest SCLK
},
.use_crc = FALSE,
.dma =
{
.ahb_clk = RCC_AHBPeriph_DMA1,
.irq =
{
.handler = PIOS_SPI_port_irq_handler,
.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,
// .GPIO_Mode = GPIO_Mode_IPU,
},
},
.mosi =
{
.gpio = GPIOA,
.init =
{
.GPIO_Pin = GPIO_Pin_7,
.GPIO_Speed = GPIO_Speed_10MHz,
.GPIO_Mode = GPIO_Mode_AF_PP,
},
},
};
/*
* Board specific number of devices.
*/
struct pios_spi_dev pios_spi_devs[] =
{
{
.cfg = &pios_spi_port_cfg,
},
};
uint8_t pios_spi_num_devices = NELEMENTS(pios_spi_devs);
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);
}
#endif /* PIOS_INCLUDE_SPI */
// ***********************************************************************************
// USART
#if defined(PIOS_INCLUDE_USART)
#include <pios_usart_priv.h>
/*
* SERIAL USART
*/
void PIOS_USART_serial_irq_handler(void);
void USART1_IRQHandler() __attribute__ ((alias ("PIOS_USART_serial_irq_handler")));
const struct pios_usart_cfg pios_usart_serial_cfg =
{
.regs = USART1,
.init =
{
#if defined(PIOS_USART_BAUDRATE)
.USART_BaudRate = PIOS_USART_BAUDRATE,
#else
.USART_BaudRate = 57600,
#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_serial_irq_handler,
.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,
},
},
};
/*
* Board specific number of devices.
*/
struct pios_usart_dev pios_usart_devs[] =
{
#define PIOS_USART_SERIAL 0
{
.cfg = &pios_usart_serial_cfg,
},
};
uint8_t pios_usart_num_devices = NELEMENTS(pios_usart_devs);
void PIOS_USART_serial_irq_handler(void)
{
PIOS_USART_IRQ_Handler(PIOS_USART_SERIAL);
}
#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;
#if defined(PIOS_INCLUDE_USB_HID)
extern const struct pios_com_driver pios_usb_com_driver;
#endif
struct pios_com_dev pios_com_devs[] = { { .id = 0,
.driver = &pios_usb_com_driver, },
#if defined(PIOS_INCLUDE_USB_HID)
{
.id = 0,
.driver = &pios_usb_com_driver,
},
#endif
};
const uint8_t pios_com_num_devices = NELEMENTS(pios_com_devs);
#endif /* PIOS_INCLUDE_COM */
// ***********************************************************************************