mirror of
https://bitbucket.org/librepilot/librepilot.git
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PipBee: Updating project files to fix compile errors. Routine just toggles each LED successively. There is a known error when enabling the PIOS_COM_Init(); or more specifically PIOS_USART_Init(); which blocks at some point when called. This may be due to the pios_board.c defines which I will check later today.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1361 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
patrick
patrick
parent
dea2529e38
commit
564a68e825
@ -85,29 +85,29 @@ TIM8 | | | |
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#define PIOS_LED_PINS { PIOS_LED_LED1_GPIO_PIN, PIOS_LED_LED2_GPIO_PIN, PIOS_LED_LED3_GPIO_PIN, PIOS_LED_LED4_GPIO_PIN }
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#define PIOS_LED_CLKS { PIOS_LED_LED1_GPIO_CLK, PIOS_LED_LED2_GPIO_CLK, PIOS_LED_LED3_GPIO_CLK, PIOS_LED_LED4_GPIO_CLK }
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#define USB_LED_ON PIOS_LED_On(LED1);
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#define USB_LED_OFF PIOS_LED_Off(LED1);
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#define USB_LED_TOGGLE PIOS_LED_Toggle(LED1);
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#define LINK_LED_ON PIOS_LED_On(LED2);
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#define LINK_LED_OFF PIOS_LED_Off(LED2);
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#define LINK_LED_TOGGLE PIOS_LED_Toggle(LED2);
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#define RX_LED_ON PIOS_LED_On(LED3);
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#define RX_LED_OFF PIOS_LED_Off(LED3);
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#define RX_LED_TOGGLE PIOS_LED_Toggle(LED3);
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#define TX_LED_ON PIOS_LED_On(LED4);
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#define TX_LED_OFF PIOS_LED_Off(LED4);
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#define TX_LED_TOGGLE PIOS_LED_Toggle(LED4);
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#define USB_LED_ON PIOS_LED_On(LED1)
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#define USB_LED_OFF PIOS_LED_Off(LED1)
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#define USB_LED_TOGGLE PIOS_LED_Toggle(LED1)
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#define LINK_LED_ON PIOS_LED_On(LED2)
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#define LINK_LED_OFF PIOS_LED_Off(LED2)
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#define LINK_LED_TOGGLE PIOS_LED_Toggle(LED2)
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#define RX_LED_ON PIOS_LED_On(LED3)
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#define RX_LED_OFF PIOS_LED_Off(LED3)
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#define RX_LED_TOGGLE PIOS_LED_Toggle(LED3)
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#define TX_LED_ON PIOS_LED_On(LED4)
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#define TX_LED_OFF PIOS_LED_Off(LED4)
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#define TX_LED_TOGGLE PIOS_LED_Toggle(LED4)
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//-------------------------
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// Delay Timer
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//-------------------------
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#define PIOS_DELAY_TIMER TIM2
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#define PIOS_DELAY_TIMER TIM2
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#define PIOS_DELAY_TIMER_RCC_FUNC RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE)
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//-------------------------
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// System Settings
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//-------------------------
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#define PIOS_MASTER_CLOCK 72000000
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#define PIOS_MASTER_CLOCK 72000000
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#define PIOS_PERIPHERAL_CLOCK (PIOS_MASTER_CLOCK / 2)
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#if defined(USE_BOOTLOADER)
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#define PIOS_NVIC_VECTTAB_FLASH ((uint32_t)0x08006000)
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@ -121,7 +121,7 @@ TIM8 | | | |
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#define PIOS_IRQ_PRIO_LOW 12 // lower than RTOS
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#define PIOS_IRQ_PRIO_MID 8 // higher than RTOS
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#define PIOS_IRQ_PRIO_HIGH 5 // for SPI, ADC, I2C etc...
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#define PIOS_IRQ_PRIO_HIGHEST 4 // for USART etc...
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#define PIOS_IRQ_PRIO_HIGHEST 4 // for USART etc...
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//-------------------------
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// SPI
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@ -133,8 +133,8 @@ TIM8 | | | |
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//-------------------------
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// PIOS_USART
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//-------------------------
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#define PIOS_USART_RX_BUFFER_SIZE 256
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#define PIOS_USART_TX_BUFFER_SIZE 256
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#define PIOS_USART_RX_BUFFER_SIZE 256
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#define PIOS_USART_TX_BUFFER_SIZE 256
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#define PIOS_COM_COM 0
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#define PIOS_COM_DEBUG PIOS_COM_COM
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@ -151,15 +151,15 @@ TIM8 | | | |
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// PIOS_ADC_PinGet(7) =
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//-------------------------
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//#define PIOS_ADC_OVERSAMPLING_RATE 1
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#define PIOS_ADC_USE_TEMP_SENSOR 0
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#define PIOS_ADC_TEMP_SENSOR_ADC ADC1
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#define PIOS_ADC_USE_TEMP_SENSOR 0
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#define PIOS_ADC_TEMP_SENSOR_ADC ADC1
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#define PIOS_ADC_TEMP_SENSOR_ADC_CHANNEL 1
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#define PIOS_ADC_PIN1_GPIO_PORT GPIOB // PB1 (PSU Voltage)
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#define PIOS_ADC_PIN1_GPIO_PIN GPIO_Pin_1 // ADC12_IN9
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#define PIOS_ADC_PIN1_GPIO_CHANNEL ADC_Channel_9
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#define PIOS_ADC_PIN1_ADC ADC2
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#define PIOS_ADC_PIN1_ADC_NUMBER 4
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#define PIOS_ADC_PIN1_GPIO_PORT GPIOB // PB1 (PSU Voltage)
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#define PIOS_ADC_PIN1_GPIO_PIN GPIO_Pin_1 // ADC12_IN9
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#define PIOS_ADC_PIN1_GPIO_CHANNEL ADC_Channel_9
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#define PIOS_ADC_PIN1_ADC ADC2
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#define PIOS_ADC_PIN1_ADC_NUMBER 4
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#define PIOS_ADC_NUM_PINS 1
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@ -167,17 +167,17 @@ TIM8 | | | |
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#define PIOS_ADC_PINS { PIOS_ADC_PIN1_GPIO_PIN }
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#define PIOS_ADC_CHANNELS { PIOS_ADC_PIN1_GPIO_CHANNEL }
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#define PIOS_ADC_MAPPING { PIOS_ADC_PIN1_ADC }
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#define PIOS_ADC_CHANNEL_MAPPING { PIOS_ADC_PIN1_ADC_NUMBER }
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#define PIOS_ADC_NUM_CHANNELS (PIOS_ADC_NUM_PINS + PIOS_ADC_USE_TEMP_SENSOR)
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#define PIOS_ADC_NUM_ADC_CHANNELS 2
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#define PIOS_ADC_CHANNEL_MAPPING { PIOS_ADC_PIN1_ADC_NUMBER }
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#define PIOS_ADC_NUM_CHANNELS (PIOS_ADC_NUM_PINS + PIOS_ADC_USE_TEMP_SENSOR)
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#define PIOS_ADC_NUM_ADC_CHANNELS 2
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#define PIOS_ADC_USE_ADC2 1
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#define PIOS_ADC_CLOCK_FUNCTION RCC_APB2PeriphClockCmd(RCC_APB2Periph_ADC1 | RCC_APB2Periph_ADC2, ENABLE)
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#define PIOS_ADC_CLOCK_FUNCTION RCC_APB2PeriphClockCmd(RCC_APB2Periph_ADC1 | RCC_APB2Periph_ADC2, ENABLE)
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#define PIOS_ADC_ADCCLK RCC_PCLK2_Div8
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/* RCC_PCLK2_Div2: ADC clock = PCLK2/2 */
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/* RCC_PCLK2_Div4: ADC clock = PCLK2/4 */
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/* RCC_PCLK2_Div6: ADC clock = PCLK2/6 */
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/* RCC_PCLK2_Div8: ADC clock = PCLK2/8 */
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#define PIOS_ADC_SAMPLE_TIME ADC_SampleTime_239Cycles5
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#define PIOS_ADC_SAMPLE_TIME ADC_SampleTime_239Cycles5
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/* Sample time: */
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/* With an ADCCLK = 14 MHz and a sampling time of 293.5 cycles: */
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/* Tconv = 239.5 + 12.5 = 252 cycles = 18<31>s */
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@ -197,33 +197,33 @@ TIM8 | | | |
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// PIOS_ADC_PinGet(7) =
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//-------------------------
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//#define PIOS_ADC_OVERSAMPLING_RATE 1
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#define PIOS_ADC_USE_TEMP_SENSOR 0
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#define PIOS_ADC_TEMP_SENSOR_ADC ADC1
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#define PIOS_ADC_USE_TEMP_SENSOR 0
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#define PIOS_ADC_TEMP_SENSOR_ADC ADC1
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#define PIOS_ADC_TEMP_SENSOR_ADC_CHANNEL 1
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#define PIOS_ADC_PIN1_GPIO_PORT GPIOB // PB1 (PSU Voltage)
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#define PIOS_ADC_PIN1_GPIO_PIN GPIO_Pin_1 // ADC12_IN9
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#define PIOS_ADC_PIN1_GPIO_CHANNEL ADC_Channel_9
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#define PIOS_ADC_PIN1_ADC ADC2
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#define PIOS_ADC_PIN1_ADC ADC2
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#define PIOS_ADC_PIN1_ADC_NUMBER 4
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#define PIOS_ADC_NUM_PINS 1
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#define PIOS_ADC_NUM_PINS 1
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#define PIOS_ADC_PORTS { PIOS_ADC_PIN1_GPIO_PORT }
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#define PIOS_ADC_PINS { PIOS_ADC_PIN1_GPIO_PIN }
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#define PIOS_ADC_CHANNELS { PIOS_ADC_PIN1_GPIO_CHANNEL }
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#define PIOS_ADC_MAPPING { PIOS_ADC_PIN1_ADC }
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#define PIOS_ADC_CHANNEL_MAPPING { PIOS_ADC_PIN1_ADC_NUMBER }
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#define PIOS_ADC_NUM_CHANNELS (PIOS_ADC_NUM_PINS + PIOS_ADC_USE_TEMP_SENSOR)
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#define PIOS_ADC_NUM_ADC_CHANNELS 2
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#define PIOS_ADC_CHANNEL_MAPPING { PIOS_ADC_PIN1_ADC_NUMBER }
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#define PIOS_ADC_NUM_CHANNELS (PIOS_ADC_NUM_PINS + PIOS_ADC_USE_TEMP_SENSOR)
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#define PIOS_ADC_NUM_ADC_CHANNELS 2
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#define PIOS_ADC_USE_ADC2 1
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#define PIOS_ADC_CLOCK_FUNCTION RCC_APB2PeriphClockCmd(RCC_APB2Periph_ADC1 | RCC_APB2Periph_ADC2, ENABLE)
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#define PIOS_ADC_CLOCK_FUNCTION RCC_APB2PeriphClockCmd(RCC_APB2Periph_ADC1 | RCC_APB2Periph_ADC2, ENABLE)
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#define PIOS_ADC_ADCCLK RCC_PCLK2_Div8
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/* RCC_PCLK2_Div2: ADC clock = PCLK2/2 */
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/* RCC_PCLK2_Div4: ADC clock = PCLK2/4 */
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/* RCC_PCLK2_Div6: ADC clock = PCLK2/6 */
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/* RCC_PCLK2_Div8: ADC clock = PCLK2/8 */
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#define PIOS_ADC_SAMPLE_TIME ADC_SampleTime_239Cycles5
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#define PIOS_ADC_SAMPLE_TIME ADC_SampleTime_239Cycles5
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/* Sample time: */
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/* With an ADCCLK = 14 MHz and a sampling time of 293.5 cycles: */
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/* Tconv = 239.5 + 12.5 = 252 cycles = 18<31>s */
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@ -1,26 +1,26 @@
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/**
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******************************************************************************
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*
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* @file pios_config.h
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* @file pios_config.h
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief PiOS configuration header.
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* @brief PiOS configuration header.
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* - Central compile time config for the project.
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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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/*
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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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*
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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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*
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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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@ -7,19 +7,19 @@
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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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/*
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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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*
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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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*
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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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@ -30,118 +30,134 @@
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#include <pios_spi_priv.h>
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/* OP Interface
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*
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* NOTE: Leave this declared as const data so that it ends up in the
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*
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* NOTE: Leave this declared as const data so that it ends up in the
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* .rodata section (ie. Flash) rather than in the .bss section (RAM).
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*/
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void PIOS_SPI_perif_irq_handler(void);
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void DMA1_Channel5_IRQHandler() __attribute__ ((alias ("PIOS_SPI_perif_irq_handler")));
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void DMA1_Channel4_IRQHandler() __attribute__ ((alias ("PIOS_SPI_perif_irq_handler")));
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static const struct pios_spi_cfg pios_spi_perif_cfg = {
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.regs = SPI1,
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.init = {
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.SPI_Mode = SPI_Mode_Master,
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.SPI_Direction = SPI_Direction_2Lines_FullDuplex,
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.SPI_DataSize = SPI_DataSize_8b,
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.SPI_NSS = SPI_NSS_Soft,
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.SPI_FirstBit = SPI_FirstBit_MSB,
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.SPI_CRCPolynomial = 7,
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.SPI_CPOL = SPI_CPOL_High,
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.SPI_CPHA = SPI_CPHA_2Edge,
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.SPI_BaudRatePrescaler = 7 << 3, /* Maximum divider (ie. slowest clock rate) */
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},
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.dma = {
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.ahb_clk = RCC_AHBPeriph_DMA1,
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.irq = {
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.handler = PIOS_SPI_perif_irq_handler,
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.flags = (DMA1_FLAG_TC4 | DMA1_FLAG_TE4 | DMA1_FLAG_HT4 | DMA1_FLAG_GL4),
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.init = {
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.NVIC_IRQChannel = DMA1_Channel4_IRQn,
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.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
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.NVIC_IRQChannelSubPriority = 0,
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.NVIC_IRQChannelCmd = ENABLE,
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},
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},
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.rx = {
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.channel = DMA1_Channel4,
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.init = {
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.DMA_PeripheralBaseAddr = (uint32_t)&(SPI1->DR),
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.DMA_DIR = DMA_DIR_PeripheralSRC,
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.DMA_PeripheralInc = DMA_PeripheralInc_Disable,
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.DMA_MemoryInc = DMA_MemoryInc_Enable,
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.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
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.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte,
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.DMA_Mode = DMA_Mode_Normal,
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.DMA_Priority = DMA_Priority_Medium,
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.DMA_M2M = DMA_M2M_Disable,
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},
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},
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.tx = {
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.channel = DMA1_Channel5,
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.init = {
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.DMA_PeripheralBaseAddr = (uint32_t)&(SPI1->DR),
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.DMA_DIR = DMA_DIR_PeripheralDST,
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.DMA_PeripheralInc = DMA_PeripheralInc_Disable,
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.DMA_MemoryInc = DMA_MemoryInc_Enable,
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.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
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.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte,
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.DMA_Mode = DMA_Mode_Normal,
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.DMA_Priority = DMA_Priority_Medium,
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.DMA_M2M = DMA_M2M_Disable,
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},
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},
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},
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.ssel = {
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.gpio = GPIOA,
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.init = {
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.GPIO_Pin = GPIO_Pin_4,
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.GPIO_Speed = GPIO_Speed_10MHz,
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.GPIO_Mode = GPIO_Mode_IN_FLOATING,
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},
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},
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.sclk = {
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.gpio = GPIOA,
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.init = {
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.GPIO_Pin = GPIO_Pin_5,
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.GPIO_Speed = GPIO_Speed_10MHz,
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.GPIO_Mode = GPIO_Mode_IN_FLOATING,
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},
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},
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.miso = {
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.gpio = GPIOA,
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.init = {
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.GPIO_Pin = GPIO_Pin_6,
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.GPIO_Speed = GPIO_Speed_10MHz,
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.GPIO_Mode = GPIO_Mode_AF_PP,
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},
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},
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.mosi = {
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.gpio = GPIOA,
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.init = {
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.GPIO_Pin = GPIO_Pin_7,
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.GPIO_Speed = GPIO_Speed_10MHz,
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.GPIO_Mode = GPIO_Mode_IN_FLOATING,
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},
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},
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static const struct pios_spi_cfg pios_spi_perif_cfg =
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{
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.regs = SPI1,
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.init =
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{
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.SPI_Mode = SPI_Mode_Master,
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.SPI_Direction = SPI_Direction_2Lines_FullDuplex,
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.SPI_DataSize = SPI_DataSize_8b,
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.SPI_NSS = SPI_NSS_Soft,
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.SPI_FirstBit = SPI_FirstBit_MSB,
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.SPI_CRCPolynomial = 7,
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.SPI_CPOL = SPI_CPOL_High,
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.SPI_CPHA = SPI_CPHA_2Edge,
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.SPI_BaudRatePrescaler = 7 << 3, /* Maximum divider (ie. slowest clock rate) */
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},
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.dma =
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{
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.ahb_clk = RCC_AHBPeriph_DMA1,
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.irq =
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{
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.handler = PIOS_SPI_perif_irq_handler,
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.flags = (DMA1_FLAG_TC4 | DMA1_FLAG_TE4 | DMA1_FLAG_HT4 | DMA1_FLAG_GL4),
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.init =
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{
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.NVIC_IRQChannel = DMA1_Channel4_IRQn,
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.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
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.NVIC_IRQChannelSubPriority = 0,
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.NVIC_IRQChannelCmd = ENABLE,
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},
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},
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.rx =
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{
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.channel = DMA1_Channel4,
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.init =
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{
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.DMA_PeripheralBaseAddr = (uint32_t)&(SPI1->DR),
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.DMA_DIR = DMA_DIR_PeripheralSRC,
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.DMA_PeripheralInc = DMA_PeripheralInc_Disable,
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.DMA_MemoryInc = DMA_MemoryInc_Enable,
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.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
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.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte,
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.DMA_Mode = DMA_Mode_Normal,
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.DMA_Priority = DMA_Priority_Medium,
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.DMA_M2M = DMA_M2M_Disable,
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},
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},
|
||||
.tx =
|
||||
{
|
||||
.channel = DMA1_Channel5,
|
||||
.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_IN_FLOATING,
|
||||
},
|
||||
},
|
||||
.sclk =
|
||||
{
|
||||
.gpio = GPIOA,
|
||||
.init =
|
||||
{
|
||||
.GPIO_Pin = GPIO_Pin_5,
|
||||
.GPIO_Speed = GPIO_Speed_10MHz,
|
||||
.GPIO_Mode = GPIO_Mode_IN_FLOATING,
|
||||
},
|
||||
},
|
||||
.miso =
|
||||
{
|
||||
.gpio = GPIOA,
|
||||
.init =
|
||||
{
|
||||
.GPIO_Pin = GPIO_Pin_6,
|
||||
.GPIO_Speed = GPIO_Speed_10MHz,
|
||||
.GPIO_Mode = GPIO_Mode_AF_PP,
|
||||
},
|
||||
},
|
||||
.mosi =
|
||||
{
|
||||
.gpio = GPIOA,
|
||||
.init =
|
||||
{
|
||||
.GPIO_Pin = GPIO_Pin_7,
|
||||
.GPIO_Speed = GPIO_Speed_10MHz,
|
||||
.GPIO_Mode = GPIO_Mode_IN_FLOATING,
|
||||
},
|
||||
},
|
||||
};
|
||||
|
||||
/*
|
||||
* Board specific number of devices.
|
||||
*/
|
||||
struct pios_spi_dev pios_spi_devs[] = {
|
||||
{
|
||||
.cfg = &pios_spi_perif_cfg,
|
||||
},
|
||||
struct pios_spi_dev pios_spi_devs[] =
|
||||
{
|
||||
{
|
||||
.cfg = &pios_spi_perif_cfg,
|
||||
},
|
||||
};
|
||||
|
||||
uint8_t pios_spi_num_devices = NELEMENTS(pios_spi_devs);
|
||||
|
||||
void PIOS_SPI_perif_irq_handler(void)
|
||||
{
|
||||
/* Call into the generic code to handle the IRQ for this specific device */
|
||||
PIOS_SPI_IRQ_Handler(PIOS_SPI_PERIF);
|
||||
/* Call into the generic code to handle the IRQ for this specific device */
|
||||
PIOS_SPI_IRQ_Handler(PIOS_SPI_PERIF);
|
||||
}
|
||||
|
||||
#endif /* PIOS_INCLUDE_SPI */
|
||||
@ -154,58 +170,67 @@ void PIOS_SPI_perif_irq_handler(void)
|
||||
*/
|
||||
void PIOS_USART_com_irq_handler(void);
|
||||
void USART3_IRQHandler() __attribute__ ((alias ("PIOS_USART_com_irq_handler")));
|
||||
const struct pios_usart_cfg pios_usart_com_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 = {
|
||||
.handler = PIOS_USART_com_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,
|
||||
},
|
||||
},
|
||||
const struct pios_usart_cfg pios_usart_com_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 =
|
||||
{
|
||||
.handler = PIOS_USART_com_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[] = {
|
||||
struct pios_usart_dev pios_usart_devs[] =
|
||||
{
|
||||
#define PIOS_USART_COM 0
|
||||
{
|
||||
.cfg = &pios_usart_com_cfg,
|
||||
},
|
||||
{
|
||||
.cfg = &pios_usart_com_cfg,
|
||||
},
|
||||
};
|
||||
|
||||
uint8_t pios_usart_num_devices = NELEMENTS(pios_usart_devs);
|
||||
|
||||
void PIOS_USART_com_irq_handler(void)
|
||||
{
|
||||
PIOS_USART_IRQ_Handler(PIOS_USART_COM);
|
||||
PIOS_USART_IRQ_Handler(PIOS_USART_COM);
|
||||
}
|
||||
|
||||
#endif /* PIOS_INCLUDE_USART */
|
||||
@ -222,11 +247,12 @@ void PIOS_USART_com_irq_handler(void)
|
||||
*/
|
||||
extern const struct pios_com_driver pios_usart_com_driver;
|
||||
|
||||
struct pios_com_dev pios_com_devs[] = {
|
||||
{
|
||||
.id = PIOS_USART_COM,
|
||||
.driver = &pios_usart_com_driver,
|
||||
},
|
||||
struct pios_com_dev pios_com_devs[] =
|
||||
{
|
||||
{
|
||||
.id = PIOS_USART_COM,
|
||||
.driver = &pios_usart_com_driver,
|
||||
},
|
||||
};
|
||||
|
||||
const uint8_t pios_com_num_devices = NELEMENTS(pios_com_devs);
|
||||
|
||||
@ -5,21 +5,21 @@
|
||||
* @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
|
||||
/*
|
||||
* 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
|
||||
*
|
||||
* 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.,
|
||||
*
|
||||
* 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
|
||||
*/
|
||||
|
||||
@ -53,16 +53,16 @@ int main()
|
||||
|
||||
// Brings up System using CMSIS functions, enables the LEDs.
|
||||
PIOS_SYS_Init();
|
||||
|
||||
|
||||
// Delay system
|
||||
PIOS_DELAY_Init();
|
||||
|
||||
|
||||
// UART communication system
|
||||
PIOS_COM_Init();
|
||||
|
||||
//PIOS_COM_Init(); // TODO: Find problem when enabling this
|
||||
|
||||
// ADC system
|
||||
PIOS_ADC_Init();
|
||||
|
||||
|
||||
// SPI link to master
|
||||
PIOS_SPI_Init();
|
||||
|
||||
@ -113,7 +113,7 @@ int main()
|
||||
PIOS_DELAY_WaitmS(200);
|
||||
|
||||
}
|
||||
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user