diff --git a/flight/CopterControl/System/pios_board.c b/flight/CopterControl/System/pios_board.c index f03f7665f..e771f919b 100644 --- a/flight/CopterControl/System/pios_board.c +++ b/flight/CopterControl/System/pios_board.c @@ -43,795 +43,6 @@ #include #include -#if defined(PIOS_INCLUDE_SPI) - -#include - -/* Gyro interface */ -void PIOS_SPI_gyro_irq_handler(void); -void DMA1_Channel2_IRQHandler() __attribute__ ((alias ("PIOS_SPI_gyro_irq_handler"))); -void DMA1_Channel3_IRQHandler() __attribute__ ((alias ("PIOS_SPI_gyro_irq_handler"))); -static const struct pios_spi_cfg pios_spi_gyro_cfg = { - .regs = SPI1, - .init = { - .SPI_Mode = SPI_Mode_Master, - .SPI_Direction = SPI_Direction_2Lines_FullDuplex, - .SPI_DataSize = SPI_DataSize_8b, - .SPI_NSS = SPI_NSS_Soft, - .SPI_FirstBit = SPI_FirstBit_MSB, - .SPI_CRCPolynomial = 7, - .SPI_CPOL = SPI_CPOL_High, - .SPI_CPHA = SPI_CPHA_2Edge, - .SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_8, /* 10 Mhz */ - }, - .dma = { - .ahb_clk = RCC_AHBPeriph_DMA1, - - .irq = { - .flags = (DMA1_FLAG_TC2 | DMA1_FLAG_TE2 | DMA1_FLAG_HT2 | DMA1_FLAG_GL2), - .init = { - .NVIC_IRQChannel = DMA1_Channel2_IRQn, - .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, - .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, - }, - }, - }, - .sclk = { - .gpio = GPIOA, - .init = { - .GPIO_Pin = GPIO_Pin_5, - .GPIO_Speed = GPIO_Speed_50MHz, - .GPIO_Mode = GPIO_Mode_AF_PP, - }, - }, - .miso = { - .gpio = GPIOA, - .init = { - .GPIO_Pin = GPIO_Pin_6, - .GPIO_Speed = GPIO_Speed_50MHz, - .GPIO_Mode = GPIO_Mode_IPU, - }, - }, - .mosi = { - .gpio = GPIOA, - .init = { - .GPIO_Pin = GPIO_Pin_7, - .GPIO_Speed = GPIO_Speed_50MHz, - .GPIO_Mode = GPIO_Mode_AF_PP, - }, - }, - .slave_count = 1, - .ssel = {{ - .gpio = GPIOA, - .init = { - .GPIO_Pin = GPIO_Pin_4, - .GPIO_Speed = GPIO_Speed_50MHz, - .GPIO_Mode = GPIO_Mode_Out_PP, - }, - }}, -}; - -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 */ - PIOS_SPI_IRQ_Handler(pios_spi_gyro_id); -} - - -/* Flash/Accel 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_flash_accel_irq_handler(void); -void DMA1_Channel4_IRQHandler() __attribute__ ((alias ("PIOS_SPI_flash_accel_irq_handler"))); -void DMA1_Channel5_IRQHandler() __attribute__ ((alias ("PIOS_SPI_flash_accel_irq_handler"))); -static const struct pios_spi_cfg pios_spi_flash_accel_cfg = { - .regs = 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_2, - }, - .use_crc = FALSE, - .dma = { - .ahb_clk = RCC_AHBPeriph_DMA1, - - .irq = { - .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_High, - .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_High, - .DMA_M2M = DMA_M2M_Disable, - }, - }, - }, - .sclk = { - .gpio = GPIOB, - .init = { - .GPIO_Pin = GPIO_Pin_13, - .GPIO_Speed = GPIO_Speed_10MHz, - .GPIO_Mode = GPIO_Mode_AF_PP, - }, - }, - .miso = { - .gpio = GPIOB, - .init = { - .GPIO_Pin = GPIO_Pin_14, - .GPIO_Speed = GPIO_Speed_10MHz, - .GPIO_Mode = GPIO_Mode_IN_FLOATING, - }, - }, - .mosi = { - .gpio = GPIOB, - .init = { - .GPIO_Pin = GPIO_Pin_15, - .GPIO_Speed = GPIO_Speed_10MHz, - .GPIO_Mode = GPIO_Mode_AF_PP, - }, - }, - .slave_count = 2, - .ssel = {{ - .gpio = GPIOB, - .init = { - .GPIO_Pin = GPIO_Pin_12, - .GPIO_Speed = GPIO_Speed_50MHz, - .GPIO_Mode = GPIO_Mode_Out_PP, - }},{ - .gpio = GPIOA, - .init = { - .GPIO_Pin = GPIO_Pin_7, - .GPIO_Speed = GPIO_Speed_50MHz, - .GPIO_Mode = GPIO_Mode_Out_PP, - }, - }}, -}; - -static uint32_t pios_spi_flash_accel_id; -void PIOS_SPI_flash_accel_irq_handler(void) -{ - /* Call into the generic code to handle the IRQ for this specific device */ - PIOS_SPI_IRQ_Handler(pios_spi_flash_accel_id); -} - -#endif /* PIOS_INCLUDE_SPI */ - -/* - * ADC system - */ -#include "pios_adc_priv.h" -extern void PIOS_ADC_handler(void); -void DMA1_Channel1_IRQHandler() __attribute__ ((alias("PIOS_ADC_handler"))); -// Remap the ADC DMA handler to this one -static const struct pios_adc_cfg pios_adc_cfg = { - .dma = { - .ahb_clk = RCC_AHBPeriph_DMA1, - .irq = { - .flags = (DMA1_FLAG_TC1 | DMA1_FLAG_TE1 | DMA1_FLAG_HT1 | DMA1_FLAG_GL1), - .init = { - .NVIC_IRQChannel = DMA1_Channel1_IRQn, - .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH, - .NVIC_IRQChannelSubPriority = 0, - .NVIC_IRQChannelCmd = ENABLE, - }, - }, - .rx = { - .channel = DMA1_Channel1, - .init = { - .DMA_PeripheralBaseAddr = (uint32_t) & ADC1->DR, - .DMA_DIR = DMA_DIR_PeripheralSRC, - .DMA_PeripheralInc = DMA_PeripheralInc_Disable, - .DMA_MemoryInc = DMA_MemoryInc_Enable, - .DMA_PeripheralDataSize = DMA_PeripheralDataSize_Word, - .DMA_MemoryDataSize = DMA_MemoryDataSize_Word, - .DMA_Mode = DMA_Mode_Circular, - .DMA_Priority = DMA_Priority_High, - .DMA_M2M = DMA_M2M_Disable, - }, - } - }, - .half_flag = DMA1_IT_HT1, - .full_flag = DMA1_IT_TC1, -}; - -struct pios_adc_dev pios_adc_devs[] = { - { - .cfg = &pios_adc_cfg, - .callback_function = NULL, - }, -}; - -uint8_t pios_adc_num_devices = NELEMENTS(pios_adc_devs); - -void PIOS_ADC_handler() { - PIOS_ADC_DMA_Handler(); -} - -#include "pios_tim_priv.h" - -static const TIM_TimeBaseInitTypeDef tim_1_2_3_4_time_base = { - .TIM_Prescaler = (PIOS_MASTER_CLOCK / 1000000) - 1, - .TIM_ClockDivision = TIM_CKD_DIV1, - .TIM_CounterMode = TIM_CounterMode_Up, - .TIM_Period = ((1000000 / PIOS_SERVO_UPDATE_HZ) - 1), - .TIM_RepetitionCounter = 0x0000, -}; - -static const struct pios_tim_clock_cfg tim_1_cfg = { - .timer = TIM1, - .time_base_init = &tim_1_2_3_4_time_base, - .irq = { - .init = { - .NVIC_IRQChannel = TIM1_CC_IRQn, - .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, - .NVIC_IRQChannelSubPriority = 0, - .NVIC_IRQChannelCmd = ENABLE, - }, - }, -}; - -static const struct pios_tim_clock_cfg tim_2_cfg = { - .timer = TIM2, - .time_base_init = &tim_1_2_3_4_time_base, - .irq = { - .init = { - .NVIC_IRQChannel = TIM2_IRQn, - .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, - .NVIC_IRQChannelSubPriority = 0, - .NVIC_IRQChannelCmd = ENABLE, - }, - }, -}; - -static const struct pios_tim_clock_cfg tim_3_cfg = { - .timer = TIM3, - .time_base_init = &tim_1_2_3_4_time_base, - .irq = { - .init = { - .NVIC_IRQChannel = TIM3_IRQn, - .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, - .NVIC_IRQChannelSubPriority = 0, - .NVIC_IRQChannelCmd = ENABLE, - }, - }, -}; - -static const struct pios_tim_clock_cfg tim_4_cfg = { - .timer = TIM4, - .time_base_init = &tim_1_2_3_4_time_base, - .irq = { - .init = { - .NVIC_IRQChannel = TIM4_IRQn, - .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, - .NVIC_IRQChannelSubPriority = 0, - .NVIC_IRQChannelCmd = ENABLE, - }, - }, -}; - -static const struct pios_tim_channel pios_tim_rcvrport_all_channels[] = { - { - .timer = TIM4, - .timer_chan = TIM_Channel_1, - .pin = { - .gpio = GPIOB, - .init = { - .GPIO_Pin = GPIO_Pin_6, - .GPIO_Mode = GPIO_Mode_IPD, - .GPIO_Speed = GPIO_Speed_2MHz, - }, - }, - }, - { - .timer = TIM3, - .timer_chan = TIM_Channel_2, - .pin = { - .gpio = GPIOB, - .init = { - .GPIO_Pin = GPIO_Pin_5, - .GPIO_Mode = GPIO_Mode_IPD, - .GPIO_Speed = GPIO_Speed_2MHz, - }, - }, - .remap = GPIO_PartialRemap_TIM3, - }, - { - .timer = TIM3, - .timer_chan = TIM_Channel_3, - .pin = { - .gpio = GPIOB, - .init = { - .GPIO_Pin = GPIO_Pin_0, - .GPIO_Mode = GPIO_Mode_IPD, - .GPIO_Speed = GPIO_Speed_2MHz, - }, - }, - }, - { - .timer = TIM3, - .timer_chan = TIM_Channel_4, - .pin = { - .gpio = GPIOB, - .init = { - .GPIO_Pin = GPIO_Pin_1, - .GPIO_Mode = GPIO_Mode_IPD, - .GPIO_Speed = GPIO_Speed_2MHz, - }, - }, - }, - { - .timer = TIM2, - .timer_chan = TIM_Channel_1, - .pin = { - .gpio = GPIOA, - .init = { - .GPIO_Pin = GPIO_Pin_0, - .GPIO_Mode = GPIO_Mode_IPD, - .GPIO_Speed = GPIO_Speed_2MHz, - }, - }, - }, - { - .timer = TIM2, - .timer_chan = TIM_Channel_2, - .pin = { - .gpio = GPIOA, - .init = { - .GPIO_Pin = GPIO_Pin_1, - .GPIO_Mode = GPIO_Mode_IPD, - .GPIO_Speed = GPIO_Speed_2MHz, - }, - }, - }, -}; - -static const struct pios_tim_channel pios_tim_servoport_all_pins[] = { - { - .timer = TIM4, - .timer_chan = TIM_Channel_4, - .pin = { - .gpio = GPIOB, - .init = { - .GPIO_Pin = GPIO_Pin_9, - .GPIO_Mode = GPIO_Mode_AF_PP, - .GPIO_Speed = GPIO_Speed_2MHz, - }, - }, - }, - { - .timer = TIM4, - .timer_chan = TIM_Channel_3, - .pin = { - .gpio = GPIOB, - .init = { - .GPIO_Pin = GPIO_Pin_8, - .GPIO_Mode = GPIO_Mode_AF_PP, - .GPIO_Speed = GPIO_Speed_2MHz, - }, - }, - }, - { - .timer = TIM4, - .timer_chan = TIM_Channel_2, - .pin = { - .gpio = GPIOB, - .init = { - .GPIO_Pin = GPIO_Pin_7, - .GPIO_Mode = GPIO_Mode_AF_PP, - .GPIO_Speed = GPIO_Speed_2MHz, - }, - }, - }, - { - .timer = TIM1, - .timer_chan = TIM_Channel_1, - .pin = { - .gpio = GPIOA, - .init = { - .GPIO_Pin = GPIO_Pin_8, - .GPIO_Mode = GPIO_Mode_AF_PP, - .GPIO_Speed = GPIO_Speed_2MHz, - }, - }, - }, - { - .timer = TIM3, - .timer_chan = TIM_Channel_1, - .pin = { - .gpio = GPIOB, - .init = { - .GPIO_Pin = GPIO_Pin_4, - .GPIO_Mode = GPIO_Mode_AF_PP, - .GPIO_Speed = GPIO_Speed_2MHz, - }, - }, - .remap = GPIO_PartialRemap_TIM3, - }, - { - .timer = TIM2, - .timer_chan = TIM_Channel_3, - .pin = { - .gpio = GPIOA, - .init = { - .GPIO_Pin = GPIO_Pin_2, - .GPIO_Mode = GPIO_Mode_AF_PP, - .GPIO_Speed = GPIO_Speed_2MHz, - }, - }, - }, -}; - - -static const struct pios_tim_channel pios_tim_servoport_rcvrport_pins[] = { - { - .timer = TIM4, - .timer_chan = TIM_Channel_4, - .pin = { - .gpio = GPIOB, - .init = { - .GPIO_Pin = GPIO_Pin_9, - .GPIO_Mode = GPIO_Mode_AF_PP, - .GPIO_Speed = GPIO_Speed_2MHz, - }, - }, - }, - { - .timer = TIM4, - .timer_chan = TIM_Channel_3, - .pin = { - .gpio = GPIOB, - .init = { - .GPIO_Pin = GPIO_Pin_8, - .GPIO_Mode = GPIO_Mode_AF_PP, - .GPIO_Speed = GPIO_Speed_2MHz, - }, - }, - }, - { - .timer = TIM4, - .timer_chan = TIM_Channel_2, - .pin = { - .gpio = GPIOB, - .init = { - .GPIO_Pin = GPIO_Pin_7, - .GPIO_Mode = GPIO_Mode_AF_PP, - .GPIO_Speed = GPIO_Speed_2MHz, - }, - }, - }, - { - .timer = TIM1, - .timer_chan = TIM_Channel_1, - .pin = { - .gpio = GPIOA, - .init = { - .GPIO_Pin = GPIO_Pin_8, - .GPIO_Mode = GPIO_Mode_AF_PP, - .GPIO_Speed = GPIO_Speed_2MHz, - }, - }, - }, - { - .timer = TIM3, - .timer_chan = TIM_Channel_1, - .pin = { - .gpio = GPIOB, - .init = { - .GPIO_Pin = GPIO_Pin_4, - .GPIO_Mode = GPIO_Mode_AF_PP, - .GPIO_Speed = GPIO_Speed_2MHz, - }, - }, - .remap = GPIO_PartialRemap_TIM3, - }, - { - .timer = TIM2, - .timer_chan = TIM_Channel_3, - .pin = { - .gpio = GPIOA, - .init = { - .GPIO_Pin = GPIO_Pin_2, - .GPIO_Mode = GPIO_Mode_AF_PP, - .GPIO_Speed = GPIO_Speed_2MHz, - }, - }, - }, - - // Receiver port pins - // S3-S6 inputs are used as outputs in this case - { - .timer = TIM3, - .timer_chan = TIM_Channel_3, - .pin = { - .gpio = GPIOB, - .init = { - .GPIO_Pin = GPIO_Pin_0, - .GPIO_Mode = GPIO_Mode_AF_PP, - .GPIO_Speed = GPIO_Speed_2MHz, - }, - }, - }, - { - .timer = TIM3, - .timer_chan = TIM_Channel_4, - .pin = { - .gpio = GPIOB, - .init = { - .GPIO_Pin = GPIO_Pin_1, - .GPIO_Mode = GPIO_Mode_AF_PP, - .GPIO_Speed = GPIO_Speed_2MHz, - }, - }, - }, - { - .timer = TIM2, - .timer_chan = TIM_Channel_1, - .pin = { - .gpio = GPIOA, - .init = { - .GPIO_Pin = GPIO_Pin_0, - .GPIO_Mode = GPIO_Mode_AF_PP, - .GPIO_Speed = GPIO_Speed_2MHz, - }, - }, - }, - { - .timer = TIM2, - .timer_chan = TIM_Channel_2, - .pin = { - .gpio = GPIOA, - .init = { - .GPIO_Pin = GPIO_Pin_1, - .GPIO_Mode = GPIO_Mode_AF_PP, - .GPIO_Speed = GPIO_Speed_2MHz, - }, - }, - }, -}; -#if defined(PIOS_INCLUDE_USART) - -#include "pios_usart_priv.h" - -static const struct pios_usart_cfg pios_usart_generic_main_cfg = { - .regs = USART1, - .init = { - .USART_BaudRate = 57600, - .USART_WordLength = USART_WordLength_8b, - .USART_Parity = USART_Parity_No, - .USART_StopBits = USART_StopBits_1, - .USART_HardwareFlowControl = USART_HardwareFlowControl_None, - .USART_Mode = USART_Mode_Rx | USART_Mode_Tx, - }, - .irq = { - .init = { - .NVIC_IRQChannel = USART1_IRQn, - .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, - .NVIC_IRQChannelSubPriority = 0, - .NVIC_IRQChannelCmd = ENABLE, - }, - }, - .rx = { - .gpio = GPIOA, - .init = { - .GPIO_Pin = GPIO_Pin_10, - .GPIO_Speed = GPIO_Speed_2MHz, - .GPIO_Mode = GPIO_Mode_IPU, - }, - }, - .tx = { - .gpio = GPIOA, - .init = { - .GPIO_Pin = GPIO_Pin_9, - .GPIO_Speed = GPIO_Speed_2MHz, - .GPIO_Mode = GPIO_Mode_AF_PP, - }, - }, -}; - -static const struct pios_usart_cfg pios_usart_generic_flexi_cfg = { - .regs = USART3, - .init = { - .USART_BaudRate = 57600, - .USART_WordLength = USART_WordLength_8b, - .USART_Parity = USART_Parity_No, - .USART_StopBits = USART_StopBits_1, - .USART_HardwareFlowControl = USART_HardwareFlowControl_None, - .USART_Mode = USART_Mode_Rx | USART_Mode_Tx, - }, - .irq = { - .init = { - .NVIC_IRQChannel = USART3_IRQn, - .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, - .NVIC_IRQChannelSubPriority = 0, - .NVIC_IRQChannelCmd = ENABLE, - }, - }, - .rx = { - .gpio = GPIOB, - .init = { - .GPIO_Pin = GPIO_Pin_11, - .GPIO_Speed = GPIO_Speed_2MHz, - .GPIO_Mode = GPIO_Mode_IPU, - }, - }, - .tx = { - .gpio = GPIOB, - .init = { - .GPIO_Pin = GPIO_Pin_10, - .GPIO_Speed = GPIO_Speed_2MHz, - .GPIO_Mode = GPIO_Mode_AF_PP, - }, - }, -}; - -#if defined(PIOS_INCLUDE_DSM) -/* - * Spektrum/JR DSM USART - */ -#include - -static const struct pios_usart_cfg pios_usart_dsm_main_cfg = { - .regs = USART1, - .init = { - .USART_BaudRate = 115200, - .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, - }, - .irq = { - .init = { - .NVIC_IRQChannel = USART1_IRQn, - .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH, - .NVIC_IRQChannelSubPriority = 0, - .NVIC_IRQChannelCmd = ENABLE, - }, - }, - .rx = { - .gpio = GPIOA, - .init = { - .GPIO_Pin = GPIO_Pin_10, - .GPIO_Speed = GPIO_Speed_2MHz, - .GPIO_Mode = GPIO_Mode_IPU, - }, - }, - .tx = { - .gpio = GPIOA, - .init = { - .GPIO_Pin = GPIO_Pin_9, - .GPIO_Speed = GPIO_Speed_2MHz, - .GPIO_Mode = GPIO_Mode_IN_FLOATING, - }, - }, -}; - -static const struct pios_dsm_cfg pios_dsm_main_cfg = { - .bind = { - .gpio = GPIOA, - .init = { - .GPIO_Pin = GPIO_Pin_10, - .GPIO_Speed = GPIO_Speed_2MHz, - .GPIO_Mode = GPIO_Mode_Out_PP, - }, - }, -}; - -static const struct pios_usart_cfg pios_usart_dsm_flexi_cfg = { - .regs = USART3, - .init = { - .USART_BaudRate = 115200, - .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, - }, - .irq = { - .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_IN_FLOATING, - }, - }, -}; - -static const struct pios_dsm_cfg pios_dsm_flexi_cfg = { - .bind = { - .gpio = GPIOB, - .init = { - .GPIO_Pin = GPIO_Pin_11, - .GPIO_Speed = GPIO_Speed_2MHz, - .GPIO_Mode = GPIO_Mode_Out_PP, - }, - }, -}; - -#endif /* PIOS_INCLUDE_DSM */ /* One slot per selectable receiver group. * eg. PWM, PPM, GCS, DSMMAINPORT, DSMFLEXIPORT, SBUS @@ -965,10 +176,6 @@ void PIOS_Board_Init(void) { PIOS_RTC_Init(&pios_rtc_main_cfg); #endif -#if defined(PIOS_INCLUDE_LED) - PIOS_LED_Init(&pios_led_cfg); -#endif /* PIOS_INCLUDE_LED */ - HwSettingsInitialize(); #ifndef ERASE_FLASH @@ -1454,6 +661,10 @@ void PIOS_Board_Init(void) { #if defined(PIOS_INCLUDE_ADXL345) PIOS_ADXL345_Init(pios_spi_flash_accel_id, 0); #endif +#if defined(PIOS_INCLUDE_LED) + PIOS_LED_Init(&pios_led_cfg_cc); +#endif /* PIOS_INCLUDE_LED */ + break; case 0x02: // Revision 2 with L3GD20 gyros, start a SPI interface and connect to it @@ -1472,6 +683,9 @@ void PIOS_Board_Init(void) { PIOS_BMA180_Attach(pios_spi_flash_accel_id); PIOS_BMA180_Init(&pios_bma180_cfg); #endif /* PIOS_INCLUDE_BMA180 */ +#if defined(PIOS_INCLUDE_LED) + PIOS_LED_Init(&pios_led_cfg_cc3d); +#endif /* PIOS_INCLUDE_LED */ break; default: diff --git a/flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj b/flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj index 9b32135c7..cd383bf52 100644 --- a/flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj +++ b/flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj @@ -77,6 +77,11 @@ 6534B55B1476D3A8003DF47C /* pios_ms5611.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_ms5611.h; sourceTree = ""; }; 6536D47B1307962C0042A298 /* stabilizationdesired.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = stabilizationdesired.xml; sourceTree = ""; }; 65408AA812BB1648004DACC5 /* i2cstats.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = i2cstats.xml; sourceTree = ""; }; + 6543A04314CF1823004EEC4C /* board_hw_defs.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = board_hw_defs.c; sourceTree = ""; }; + 6543A04514CF1823004EEC4C /* board_hw_defs.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = board_hw_defs.c; sourceTree = ""; }; + 6543A04714CF1823004EEC4C /* board_hw_defs.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = board_hw_defs.c; sourceTree = ""; }; + 6543A04914CF1823004EEC4C /* board_hw_defs.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = board_hw_defs.c; sourceTree = ""; }; + 6543A04B14CF1823004EEC4C /* board_hw_defs.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = board_hw_defs.c; sourceTree = ""; }; 6549E0D21279B3C800C5476F /* fifo_buffer.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = fifo_buffer.c; sourceTree = ""; }; 6549E0D31279B3CF00C5476F /* fifo_buffer.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = fifo_buffer.h; sourceTree = ""; }; 655268BC121FBD2900410C6E /* ahrscalibration.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = ahrscalibration.xml; sourceTree = ""; }; @@ -3745,6 +3750,63 @@ path = inc; sourceTree = ""; }; + 6543A04114CF180D004EEC4C /* board_hw_defs */ = { + isa = PBXGroup; + children = ( + 6543A04214CF1823004EEC4C /* ahrs */, + 6543A04414CF1823004EEC4C /* coptercontrol */, + 6543A04614CF1823004EEC4C /* ins */, + 6543A04814CF1823004EEC4C /* openpilot */, + 6543A04A14CF1823004EEC4C /* pipxtreme */, + ); + name = board_hw_defs; + sourceTree = ""; + }; + 6543A04214CF1823004EEC4C /* ahrs */ = { + isa = PBXGroup; + children = ( + 6543A04314CF1823004EEC4C /* board_hw_defs.c */, + ); + name = ahrs; + path = ../../board_hw_defs/ahrs; + sourceTree = ""; + }; + 6543A04414CF1823004EEC4C /* coptercontrol */ = { + isa = PBXGroup; + children = ( + 6543A04514CF1823004EEC4C /* board_hw_defs.c */, + ); + name = coptercontrol; + path = ../../board_hw_defs/coptercontrol; + sourceTree = ""; + }; + 6543A04614CF1823004EEC4C /* ins */ = { + isa = PBXGroup; + children = ( + 6543A04714CF1823004EEC4C /* board_hw_defs.c */, + ); + name = ins; + path = ../../board_hw_defs/ins; + sourceTree = ""; + }; + 6543A04814CF1823004EEC4C /* openpilot */ = { + isa = PBXGroup; + children = ( + 6543A04914CF1823004EEC4C /* board_hw_defs.c */, + ); + name = openpilot; + path = ../../board_hw_defs/openpilot; + sourceTree = ""; + }; + 6543A04A14CF1823004EEC4C /* pipxtreme */ = { + isa = PBXGroup; + children = ( + 6543A04B14CF1823004EEC4C /* board_hw_defs.c */, + ); + name = pipxtreme; + path = ../../board_hw_defs/pipxtreme; + sourceTree = ""; + }; 65632DF41251650300469B77 /* Boards */ = { isa = PBXGroup; children = ( @@ -3761,6 +3823,7 @@ 657CEEB5121DBC49007A1FBE /* flight */ = { isa = PBXGroup; children = ( + 6543A04114CF180D004EEC4C /* board_hw_defs */, 65904E3F146128A500FD9482 /* Revolution */, 65FF4BB313791C3300146BE4 /* Bootloaders */, 65F93B9012EE09280047DB36 /* PipXtreme */, diff --git a/flight/board_hw_defs/coptercontrol/board_hw_defs.c b/flight/board_hw_defs/coptercontrol/board_hw_defs.c index b5f81027f..91b370753 100644 --- a/flight/board_hw_defs/coptercontrol/board_hw_defs.c +++ b/flight/board_hw_defs/coptercontrol/board_hw_defs.c @@ -1,9 +1,37 @@ +/** + ****************************************************************************** + * @addtogroup OpenPilotSystem OpenPilot System + * @{ + * @addtogroup OpenPilotCore OpenPilot Core + * @{ + * + * @file board_hw_defs.c + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012. + * @brief Defines board specific static initializers for hardware for the OpenPilot 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 #if defined(PIOS_INCLUDE_LED) #include -static const struct pios_led pios_leds[] = { +static const struct pios_led pios_leds_cc[] = { [PIOS_LED_HEARTBEAT] = { .pin = { .gpio = GPIOA, @@ -16,9 +44,27 @@ static const struct pios_led pios_leds[] = { }, }; -static const struct pios_led_cfg pios_led_cfg = { - .leds = pios_leds, - .num_leds = NELEMENTS(pios_leds), +static const struct pios_led_cfg pios_led_cfg_cc = { + .leds = pios_leds_cc, + .num_leds = NELEMENTS(pios_leds_cc), +}; + +static const struct pios_led pios_leds_cc3d[] = { + [PIOS_LED_HEARTBEAT] = { + .pin = { + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_3, + .GPIO_Mode = GPIO_Mode_Out_PP, + .GPIO_Speed = GPIO_Speed_50MHz, + }, + }, + }, +}; + +static const struct pios_led_cfg pios_led_cfg_cc3d = { + .leds = pios_leds_cc3d, + .num_leds = NELEMENTS(pios_leds_cc3d), }; #endif /* PIOS_INCLUDE_LED */ @@ -27,6 +73,108 @@ static const struct pios_led_cfg pios_led_cfg = { #include +/* Gyro interface */ +void PIOS_SPI_gyro_irq_handler(void); +void DMA1_Channel2_IRQHandler() __attribute__ ((alias ("PIOS_SPI_gyro_irq_handler"))); +void DMA1_Channel3_IRQHandler() __attribute__ ((alias ("PIOS_SPI_gyro_irq_handler"))); +static const struct pios_spi_cfg pios_spi_gyro_cfg = { + .regs = SPI1, + .init = { + .SPI_Mode = SPI_Mode_Master, + .SPI_Direction = SPI_Direction_2Lines_FullDuplex, + .SPI_DataSize = SPI_DataSize_8b, + .SPI_NSS = SPI_NSS_Soft, + .SPI_FirstBit = SPI_FirstBit_MSB, + .SPI_CRCPolynomial = 7, + .SPI_CPOL = SPI_CPOL_High, + .SPI_CPHA = SPI_CPHA_2Edge, + .SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_8, /* 10 Mhz */ + }, + .dma = { + .ahb_clk = RCC_AHBPeriph_DMA1, + + .irq = { + .flags = (DMA1_FLAG_TC2 | DMA1_FLAG_TE2 | DMA1_FLAG_HT2 | DMA1_FLAG_GL2), + .init = { + .NVIC_IRQChannel = DMA1_Channel2_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, + .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, + }, + }, + }, + .sclk = { + .gpio = GPIOA, + .init = { + .GPIO_Pin = GPIO_Pin_5, + .GPIO_Speed = GPIO_Speed_50MHz, + .GPIO_Mode = GPIO_Mode_AF_PP, + }, + }, + .miso = { + .gpio = GPIOA, + .init = { + .GPIO_Pin = GPIO_Pin_6, + .GPIO_Speed = GPIO_Speed_50MHz, + .GPIO_Mode = GPIO_Mode_IPU, + }, + }, + .mosi = { + .gpio = GPIOA, + .init = { + .GPIO_Pin = GPIO_Pin_7, + .GPIO_Speed = GPIO_Speed_50MHz, + .GPIO_Mode = GPIO_Mode_AF_PP, + }, + }, + .slave_count = 1, + .ssel = {{ + .gpio = GPIOA, + .init = { + .GPIO_Pin = GPIO_Pin_4, + .GPIO_Speed = GPIO_Speed_50MHz, + .GPIO_Mode = GPIO_Mode_Out_PP, + }, + }}, +}; + +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 */ + PIOS_SPI_IRQ_Handler(pios_spi_gyro_id); +} + + /* Flash/Accel Interface * * NOTE: Leave this declared as const data so that it ends up in the @@ -36,105 +184,111 @@ void PIOS_SPI_flash_accel_irq_handler(void); void DMA1_Channel4_IRQHandler() __attribute__ ((alias ("PIOS_SPI_flash_accel_irq_handler"))); void DMA1_Channel5_IRQHandler() __attribute__ ((alias ("PIOS_SPI_flash_accel_irq_handler"))); static const struct pios_spi_cfg pios_spi_flash_accel_cfg = { - .regs = 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_2, - }, - .use_crc = FALSE, - .dma = { - .ahb_clk = RCC_AHBPeriph_DMA1, - - .irq = { - .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_High, - .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_High, - .DMA_M2M = DMA_M2M_Disable, - }, - }, - }, - .ssel = { - .gpio = GPIOB, - .init = { - .GPIO_Pin = GPIO_Pin_12, - .GPIO_Speed = GPIO_Speed_10MHz, - .GPIO_Mode = GPIO_Mode_Out_PP, - }, - }, - .sclk = { - .gpio = GPIOB, - .init = { - .GPIO_Pin = GPIO_Pin_13, - .GPIO_Speed = GPIO_Speed_10MHz, - .GPIO_Mode = GPIO_Mode_AF_PP, - }, - }, - .miso = { - .gpio = GPIOB, - .init = { - .GPIO_Pin = GPIO_Pin_14, - .GPIO_Speed = GPIO_Speed_10MHz, - .GPIO_Mode = GPIO_Mode_IN_FLOATING, - }, - }, - .mosi = { - .gpio = GPIOB, - .init = { - .GPIO_Pin = GPIO_Pin_15, - .GPIO_Speed = GPIO_Speed_10MHz, - .GPIO_Mode = GPIO_Mode_AF_PP, - }, - }, + .regs = 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_2, + }, + .use_crc = FALSE, + .dma = { + .ahb_clk = RCC_AHBPeriph_DMA1, + + .irq = { + .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_High, + .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_High, + .DMA_M2M = DMA_M2M_Disable, + }, + }, + }, + .sclk = { + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_13, + .GPIO_Speed = GPIO_Speed_10MHz, + .GPIO_Mode = GPIO_Mode_AF_PP, + }, + }, + .miso = { + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_14, + .GPIO_Speed = GPIO_Speed_10MHz, + .GPIO_Mode = GPIO_Mode_IN_FLOATING, + }, + }, + .mosi = { + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_15, + .GPIO_Speed = GPIO_Speed_10MHz, + .GPIO_Mode = GPIO_Mode_AF_PP, + }, + }, + .slave_count = 2, + .ssel = {{ + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_12, + .GPIO_Speed = GPIO_Speed_50MHz, + .GPIO_Mode = GPIO_Mode_Out_PP, + }},{ + .gpio = GPIOA, + .init = { + .GPIO_Pin = GPIO_Pin_7, + .GPIO_Speed = GPIO_Speed_50MHz, + .GPIO_Mode = GPIO_Mode_Out_PP, + }, + }}, }; static uint32_t pios_spi_flash_accel_id; void PIOS_SPI_flash_accel_irq_handler(void) { - /* Call into the generic code to handle the IRQ for this specific device */ + /* Call into the generic code to handle the IRQ for this specific device */ PIOS_SPI_IRQ_Handler(pios_spi_flash_accel_id); } #endif /* PIOS_INCLUDE_SPI */ -#if defined(PIOS_INCLUDE_ADC) /* * ADC system */ @@ -186,10 +340,6 @@ void PIOS_ADC_handler() { PIOS_ADC_DMA_Handler(); } -#endif /* PIOS_INCLUDE_ADC */ - -#if defined(PIOS_INCLUDE_TIM) - #include "pios_tim_priv.h" static const TIM_TimeBaseInitTypeDef tim_1_2_3_4_time_base = { @@ -479,7 +629,7 @@ static const struct pios_tim_channel pios_tim_servoport_rcvrport_pins[] = { }, }, }, - + // Receiver port pins // S3-S6 inputs are used as outputs in this case { @@ -531,83 +681,80 @@ static const struct pios_tim_channel pios_tim_servoport_rcvrport_pins[] = { }, }, }; - -#endif /* PIOS_INCLUDE_TIM */ - #if defined(PIOS_INCLUDE_USART) #include "pios_usart_priv.h" static const struct pios_usart_cfg pios_usart_generic_main_cfg = { - .regs = USART1, - .init = { - .USART_BaudRate = 57600, - .USART_WordLength = USART_WordLength_8b, - .USART_Parity = USART_Parity_No, - .USART_StopBits = USART_StopBits_1, - .USART_HardwareFlowControl = USART_HardwareFlowControl_None, - .USART_Mode = USART_Mode_Rx | USART_Mode_Tx, - }, - .irq = { - .init = { - .NVIC_IRQChannel = USART1_IRQn, - .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, - .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, - }, - }, + .regs = USART1, + .init = { + .USART_BaudRate = 57600, + .USART_WordLength = USART_WordLength_8b, + .USART_Parity = USART_Parity_No, + .USART_StopBits = USART_StopBits_1, + .USART_HardwareFlowControl = USART_HardwareFlowControl_None, + .USART_Mode = USART_Mode_Rx | USART_Mode_Tx, + }, + .irq = { + .init = { + .NVIC_IRQChannel = USART1_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, + .rx = { + .gpio = GPIOA, + .init = { + .GPIO_Pin = GPIO_Pin_10, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_IPU, + }, + }, + .tx = { + .gpio = GPIOA, + .init = { + .GPIO_Pin = GPIO_Pin_9, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_AF_PP, + }, + }, }; static const struct pios_usart_cfg pios_usart_generic_flexi_cfg = { - .regs = USART3, - .init = { - .USART_BaudRate = 57600, - .USART_WordLength = USART_WordLength_8b, - .USART_Parity = USART_Parity_No, - .USART_StopBits = USART_StopBits_1, - .USART_HardwareFlowControl = USART_HardwareFlowControl_None, - .USART_Mode = USART_Mode_Rx | USART_Mode_Tx, - }, - .irq = { - .init = { - .NVIC_IRQChannel = USART3_IRQn, - .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, - .NVIC_IRQChannelSubPriority = 0, - .NVIC_IRQChannelCmd = ENABLE, - }, - }, - .rx = { - .gpio = GPIOB, - .init = { - .GPIO_Pin = GPIO_Pin_11, - .GPIO_Speed = GPIO_Speed_2MHz, - .GPIO_Mode = GPIO_Mode_IPU, - }, - }, - .tx = { - .gpio = GPIOB, - .init = { - .GPIO_Pin = GPIO_Pin_10, - .GPIO_Speed = GPIO_Speed_2MHz, - .GPIO_Mode = GPIO_Mode_AF_PP, - }, - }, + .regs = USART3, + .init = { + .USART_BaudRate = 57600, + .USART_WordLength = USART_WordLength_8b, + .USART_Parity = USART_Parity_No, + .USART_StopBits = USART_StopBits_1, + .USART_HardwareFlowControl = USART_HardwareFlowControl_None, + .USART_Mode = USART_Mode_Rx | USART_Mode_Tx, + }, + .irq = { + .init = { + .NVIC_IRQChannel = USART3_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, + .rx = { + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_11, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_IPU, + }, + }, + .tx = { + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_10, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_AF_PP, + }, + }, }; #if defined(PIOS_INCLUDE_DSM) @@ -632,7 +779,7 @@ static const struct pios_usart_cfg pios_usart_dsm_main_cfg = { .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH, .NVIC_IRQChannelSubPriority = 0, .NVIC_IRQChannelCmd = ENABLE, - }, + }, }, .rx = { .gpio = GPIOA, @@ -679,7 +826,7 @@ static const struct pios_usart_cfg pios_usart_dsm_flexi_cfg = { .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH, .NVIC_IRQChannelSubPriority = 0, .NVIC_IRQChannelCmd = ENABLE, - }, + }, }, .rx = { .gpio = GPIOB, @@ -712,6 +859,7 @@ static const struct pios_dsm_cfg pios_dsm_flexi_cfg = { #endif /* PIOS_INCLUDE_DSM */ + #if defined(PIOS_INCLUDE_SBUS) /* * S.Bus USART