mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-11-29 07:24:13 +01:00
Some Doxygen work and comments.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@16 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
dankers
dankers
parent
5efc81f6c9
commit
845a4ff817
@ -65,13 +65,13 @@ int main()
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}
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/*******************************************************************************
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/**
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* Function Name : PiosMainTask
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* Description : PIOS
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* Input : None
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* Output : None
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* Return : None
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*******************************************************************************/
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*/
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void PiosMainTask( void *pvParameters )
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{
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@ -80,13 +80,13 @@ void PiosMainTask( void *pvParameters )
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}
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}
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/*******************************************************************************
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/**
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* Function Name : SensorTask
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* Description : PIOS
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* Input : None
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* Output : None
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* Return : None
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*******************************************************************************/
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*/
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void SensorTask( void *pvParameters )
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{
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@ -30,7 +30,7 @@
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#define PIOS_H
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/* C Header Files */
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/* C Lib Includes */
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#include <stdlib.h>
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#include <stdio.h>
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@ -38,14 +38,14 @@
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#include <stm32f10x.h>
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#include <stm32f10x_conf.h>
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/* FatFS Functions */
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/* FatFS Includes */
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#include <ff.h>
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#include <diskio.h>
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/* minIni Functions */
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/* minIni Includes */
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#include <minIni.h>
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/* Include PIOS Hardware Header Files */
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/* PIOS Hardware Includes */
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#include <pios_board.h>
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#include <pios_sys.h>
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#include <pios_settings.h>
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@ -45,6 +45,7 @@
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/* Channel 6 - */
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/* Channel 7 - */
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/* Channel 8 - */
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/* Channel 9 - */
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/* Channel 10 - */
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/* Channel 11 - */
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@ -53,18 +54,18 @@
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//------------------------
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// Leds Definition
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//------------------------
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#define LED1_GPIO_PORT GPIOC
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#define LED1_GPIO_PIN GPIO_Pin_12
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#define LED1_GPIO_CLK RCC_APB2Periph_GPIOC
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#define LED2_GPIO_PORT GPIOC
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#define LED2_GPIO_PIN GPIO_Pin_13
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#define LED2_GPIO_CLK RCC_APB2Periph_GPIOC
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#define LED1_GPIO_PORT GPIOC
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#define LED1_GPIO_PIN GPIO_Pin_12
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#define LED1_GPIO_CLK RCC_APB2Periph_GPIOC
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#define LED2_GPIO_PORT GPIOC
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#define LED2_GPIO_PIN GPIO_Pin_13
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#define LED2_GPIO_CLK RCC_APB2Periph_GPIOC
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#define NUM_LED 2
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//------------------------
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// I2C
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//------------------------
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#define I2C_GPIO_PORT GPIOB
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#define I2C_GPIO_PORT GPIOB
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#define I2C_SDA_PIN GPIO_Pin_11
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#define I2C_SCL_PIN GPIO_Pin_10
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@ -72,143 +73,143 @@
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// Onboard Pressure sensor
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//------------------------
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#define HP03D_XCLR_GPIO_PORT GPIOC
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#define HP03D_XCLR_GPIO_PIN GPIO_Pin_15
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#define HP03D_XCLR_GPIO_PIN GPIO_Pin_15
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#define HP03D_MCLK_GPIO_PORT GPIOA
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#define HP03D_MCLK_GPIO_PIN GPIO_Pin_1
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#define HP03D_MCLK_GPIO_PIN GPIO_Pin_1
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//-------------------------
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// GPS UART
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//-------------------------
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#define GPS_UART USART2
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#define GPS_BAUD 57600
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#define GPS_GPIO_PORT GPIOA
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#define GPS_RX_PIN GPIO_Pin_3
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#define GPS_TX_PIN GPIO_Pin_2
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#define GPS_REMAP_FUNC { }
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#define GPS_IRQ_CHANNEL USART2_IRQn
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#define GPS_IRQHANDLER_FUNC void USART2_IRQHandler(void)
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#define GPS_CLK_FUNC RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART2, ENABLE)
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#define GPS_NVIC_PRIO IRQ_PRIO_HIGHEST
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#define GPS_UART USART2
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#define GPS_BAUD 57600
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#define GPS_GPIO_PORT GPIOA
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#define GPS_RX_PIN GPIO_Pin_3
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#define GPS_TX_PIN GPIO_Pin_2
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#define GPS_REMAP_FUNC { }
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#define GPS_IRQ_CHANNEL USART2_IRQn
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#define GPS_IRQHANDLER_FUNC void USART2_IRQHandler(void)
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#define GPS_CLK_FUNC RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART2, ENABLE)
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#define GPS_NVIC_PRIO IRQ_PRIO_HIGHEST
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//-------------------------
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// Telemetry radio UART
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//-------------------------
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#define TELEM_UART USART3
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#define TELEM_BAUD 115200
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#define TELEM_UART USART3
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#define TELEM_BAUD 115200
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#define TELEM_GPIO_PORT GPIOC
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#define TELEM_RX_PIN GPIO_Pin_11
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#define TELEM_TX_PIN GPIO_Pin_10
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#define TELEM_REMAP_FUNC { GPIO_PinRemapConfig(GPIO_PartialRemap_USART3, ENABLE); }
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#define TELEM_IRQ_CHANNEL USART3_IRQn
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#define TELEM_RX_PIN GPIO_Pin_11
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#define TELEM_TX_PIN GPIO_Pin_10
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#define TELEM_REMAP_FUNC { GPIO_PinRemapConfig(GPIO_PartialRemap_USART3, ENABLE); }
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#define TELEM_IRQ_CHANNEL USART3_IRQn
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#define TELEM_IRQHANDLER_FUNC void USART3_IRQHandler(void)
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#define TELEM_CLK_FUNC RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART3, ENABLE)
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#define TELEM_NVIC_PRIO IRQ_PRIO_HIGHEST
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#define TELEM_CLK_FUNC RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART3, ENABLE)
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#define TELEM_NVIC_PRIO IRQ_PRIO_HIGHEST
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//-------------------------
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// AUXSER USART (available instead of RX5/RX6)
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//-------------------------
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#define AUX_UART_BAUD 19200
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#define AUX_UART_UART USART1
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#define AUX_UART_GPIO_PORT GPIOA
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#define AUX_UART_RX_PIN GPIO_Pin_10
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#define AUX_UART_TX_PIN GPIO_Pin_9
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#define AUX_UART_REMAP_FUNC { }
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#define AUX_UART_BAUD 19200
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#define AUX_UART_UART USART1
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#define AUX_UART_GPIO_PORT GPIOA
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#define AUX_UART_RX_PIN GPIO_Pin_10
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#define AUX_UART_TX_PIN GPIO_Pin_9
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#define AUX_UART_REMAP_FUNC { }
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#define AUX_UART_IRQ_CHANNEL USART1_IRQn
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#define AUX_UART_IRQHANDLER_FUNC void USART1_IRQHandler(void)
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#define AUX_UART_CLK_FUNC RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1, ENABLE)
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#define AUX_UART_NVIC_PRIO IRQ_PRIO_HIGH
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#define AUX_UART_CLK_FUNC RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1, ENABLE)
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#define AUX_UART_NVIC_PRIO IRQ_PRIO_HIGH
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//-------------------------
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// USART Serial Ports
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//-------------------------
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#define UART_NUM 3
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#define UART_RX_BUFFER_SIZE 128
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#define UART_TX_BUFFER_SIZE 128
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#define UART_NUM 3
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#define UART_RX_BUFFER_SIZE 128
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#define UART_TX_BUFFER_SIZE 128
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//-------------------------
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// Receiver PWM inputs
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//-------------------------
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#define RECEIVER1_GPIO_PORT GPIOB
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#define RECEIVER1_PIN GPIO_Pin_2 // PB2
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#define RECEIVER1_TIM_PORT TIM3
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#define RECEIVER1_CH TIM_Channel_3 // TIM3_CH3
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#define RECEIVER2_GPIO_PORT GPIOB
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#define RECEIVER2_PIN GPIO_Pin_1 // PB1
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#define RECEIVER2_TIM_PORT TIM3
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#define RECEIVER2_CH TIM_Channel_4 // TIM3_CH4
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#define RECEIVER3_GPIO_PORT GPIOA
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#define RECEIVER3_PIN GPIO_Pin_8 // PA8
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#define RECEIVER3_TIM_PORT TIM1
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#define RECEIVER3_CH TIM_Channel_1 // TIM1_CH1
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#define RECEIVER4_GPIO_PORT GPIOA
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#define RECEIVER4_PIN GPIO_Pin_0 // PA0
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#define RECEIVER4_TIM_PORT TIM5
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#define RECEIVER4_CH TIM_Channel_1 // TIM5_CH1
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#define RECEIVER5_GPIO_PORT GPIOA
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#define RECEIVER5_PIN GPIO_Pin_10 // PA10
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#define RECEIVER5_TIM_PORT TIM1
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#define RECEIVER5_CH TIM_Channel_3 // TIM1_CH3
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#define RECEIVER6_GPIO_PORT GPIOA
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#define RECEIVER6_PIN GPIO_Pin_9 // PA9
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#define RECEIVER6_TIM_PORT TIM1
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#define RECEIVER6_CH TIM_Channel_2 // TIM1_CH2
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#define RECEIVER1_GPIO_PORT GPIOB
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#define RECEIVER1_PIN GPIO_Pin_2 // PB2
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#define RECEIVER1_TIM_PORT TIM3
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#define RECEIVER1_CH TIM_Channel_3 // TIM3_CH3
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#define RECEIVER2_GPIO_PORT GPIOB
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#define RECEIVER2_PIN GPIO_Pin_1 // PB1
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#define RECEIVER2_TIM_PORT TIM3
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#define RECEIVER2_CH TIM_Channel_4 // TIM3_CH4
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#define RECEIVER3_GPIO_PORT GPIOA
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#define RECEIVER3_PIN GPIO_Pin_8 // PA8
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#define RECEIVER3_TIM_PORT TIM1
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#define RECEIVER3_CH TIM_Channel_1 // TIM1_CH1
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#define RECEIVER4_GPIO_PORT GPIOA
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#define RECEIVER4_PIN GPIO_Pin_0 // PA0
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#define RECEIVER4_TIM_PORT TIM5
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#define RECEIVER4_CH TIM_Channel_1 // TIM5_CH1
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#define RECEIVER5_GPIO_PORT GPIOA
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#define RECEIVER5_PIN GPIO_Pin_10 // PA10
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#define RECEIVER5_TIM_PORT TIM1
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#define RECEIVER5_CH TIM_Channel_3 // TIM1_CH3
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#define RECEIVER6_GPIO_PORT GPIOA
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#define RECEIVER6_PIN GPIO_Pin_9 // PA9
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#define RECEIVER6_TIM_PORT TIM1
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#define RECEIVER6_CH TIM_Channel_2 // TIM1_CH2
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/* Not used in v1.2 HW
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#define RECEIVER7_GPIO_PORT GPIOB
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#define RECEIVER7_PIN GPIO_Pin_4 // PB4
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#define RECEIVER7_TIM_PORT TIM3
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#define RECEIVER7_CH TIM_Channel_1 // TIM3_CH1
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#define RECEIVER8_GPIO_PORT GPIOB
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#define RECEIVER8_PIN GPIO_Pin_5 // PB5
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#define RECEIVER8_TIM_PORT TIM3
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#define RECEIVER8_CH TIM_Channel_2 // TIM3_CH2
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#define RECEIVER7_GPIO_PORT GPIOB
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#define RECEIVER7_PIN GPIO_Pin_4 // PB4
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#define RECEIVER7_TIM_PORT TIM3
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#define RECEIVER7_CH TIM_Channel_1 // TIM3_CH1
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#define RECEIVER8_GPIO_PORT GPIOB
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#define RECEIVER8_PIN GPIO_Pin_5 // PB5
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#define RECEIVER8_TIM_PORT TIM3
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#define RECEIVER8_CH TIM_Channel_2 // TIM3_CH2
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*/
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#define NUM_RECEIVER_INPUTS 6
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#define NUM_RECEIVER_INPUTS 6
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//-------------------------
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// Servo outputs
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//-------------------------
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#define SERVO1_4_PORT GPIOB
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#define SERVO1_PIN GPIO_Pin_6
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#define SERVO2_PIN GPIO_Pin_7
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#define SERVO3_PIN GPIO_Pin_8
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#define SERVO4_PIN GPIO_Pin_9
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#define SERVO5_8_PORT GPIOC
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#define SERVO5_PIN GPIO_Pin_6
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#define SERVO6_PIN GPIO_Pin_7
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#define SERVO7_PIN GPIO_Pin_8
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#define SERVO8_PIN GPIO_Pin_9
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#define SERVO1_4_PORT GPIOB
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#define SERVO1_PIN GPIO_Pin_6
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#define SERVO2_PIN GPIO_Pin_7
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#define SERVO3_PIN GPIO_Pin_8
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#define SERVO4_PIN GPIO_Pin_9
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#define SERVO5_8_PORT GPIOC
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#define SERVO5_PIN GPIO_Pin_6
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#define SERVO6_PIN GPIO_Pin_7
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#define SERVO7_PIN GPIO_Pin_8
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#define SERVO8_PIN GPIO_Pin_9
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#define NUM_SERVO_OUTPUTS 8
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#define NUM_SERVO_OUTPUTS 8
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//-------------------------
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// Leveler (analog inputs)
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//-------------------------
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#define LEVELER_GPIO_PORT GPIOC
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#define LEVELER_Z_PIN GPIO_Pin_0 // ADC123_IN10
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#define LEVELER_A_PIN GPIO_Pin_1 // ADC123_IN11
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#define LEVELER_B_PIN GPIO_Pin_2 // ADC123_IN12
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#define LEVELER_GPIO_PORT GPIOC
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#define LEVELER_Z_PIN GPIO_Pin_0 // ADC123_IN10
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#define LEVELER_A_PIN GPIO_Pin_1 // ADC123_IN11
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#define LEVELER_B_PIN GPIO_Pin_2 // ADC123_IN12
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//-------------------------
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// USB
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//-------------------------
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#define USB_ACC_GPIO_PORT GPIOC
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#define USB_DETECT_PIN GPIO_Pin_4
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#define USB_PULLUP_PIN GPIO_Pin_14
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#define USB_ACC_GPIO_PORT GPIOC
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#define USB_DETECT_PIN GPIO_Pin_4
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#define USB_PULLUP_PIN GPIO_Pin_14
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//-------------------------
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// Master Clock
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//-------------------------
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#define MASTER_CLOCK 72000000
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#define PERIPHERAL_CLOCK (MASTER_CLOCK/2)
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#define MASTER_CLOCK 72000000
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#define PERIPHERAL_CLOCK (MASTER_CLOCK/2)
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//-------------------------
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// Interrupt Priorities
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//-------------------------
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#define IRQ_PRIO_LOW 12 // lower than RTOS
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#define IRQ_PRIO_MID 8 // higher than RTOS
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#define IRQ_PRIO_HIGH 5 // for like SPI, AIN, I2C etc...
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#define IRQ_PRIO_HIGHEST 4 // for UART etc...
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#define IRQ_PRIO_LOW 12 // lower than RTOS
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#define IRQ_PRIO_MID 8 // higher than RTOS
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#define IRQ_PRIO_HIGH 5 // for like SPI, AIN, I2C etc...
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#define IRQ_PRIO_HIGHEST 4 // for UART etc...
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#endif /* PIOS_BOARD_H */
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@ -30,11 +30,6 @@
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#include "pios.h"
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/* Public Function Prototypes */
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int IRQDisable(void);
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int IRQEnable(void);
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/* Private Function Prototypes */
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@ -46,13 +41,13 @@ static unsigned int nested_ctr;
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static unsigned int prev_primask;
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/*******************************************************************************
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/**
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* Function Name : IRQDisable
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* Description : Disables all interrupts (nested)
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* Input : None
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* Output : None
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* Return : Zero on no error
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*******************************************************************************/
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*/
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int IRQDisable(void)
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{
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/* Get current priority if nested level == 0 */
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@ -77,13 +72,13 @@ int IRQDisable(void)
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}
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/*******************************************************************************
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/**
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* Function Name : IRQEnable
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* Description : Enables all interrupts (nested)
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* Input : None
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* Output : None
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* Return : Zero on no error, -1 on nesting error
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*******************************************************************************/
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*/
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int IRQEnable(void)
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{
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/* Check for nesting error */
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@ -30,13 +30,6 @@
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#include "pios.h"
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/* Public Function Prototypes */
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void LED_INIT(void);
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void LED_ON(LedTypeDef LEDNum);
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void LED_OFF(LedTypeDef LEDNum);
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void LED_TOGGLE(LedTypeDef LEDNum);
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/* Private Function Prototypes */
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@ -46,13 +39,13 @@ const uint16_t LED_GPIO_PIN[NUM_LED] = {LED1_GPIO_PIN, LED2_GPIO_PIN};
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const uint32_t LED_GPIO_CLK[NUM_LED] = {LED1_GPIO_CLK, LED2_GPIO_CLK};
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/*******************************************************************************
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/**
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* Function Name : LED_INIT
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* Description : Initialises all the LED's
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* Input : None
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* Output : None
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* Return : None
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*******************************************************************************/
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*/
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void LED_INIT(void)
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{
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GPIO_InitTypeDef GPIO_InitStructure;
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@ -67,39 +60,39 @@ void LED_INIT(void)
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}
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/*******************************************************************************
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/**
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* Function Name : LED_ON
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* Description : Turn on LED
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* Input : LED Number
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* Output : None
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* Return : None
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*******************************************************************************/
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*/
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void LED_ON(LedTypeDef LEDNum)
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{
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LED_GPIO_PORT[LEDNum]->BSRR = LED_GPIO_PIN[LEDNum];
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}
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/*******************************************************************************
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/**
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* Function Name : LED_OFF
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* Description : Turn off LED
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* Input : LED Number
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* Output : None
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* Return : None
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*******************************************************************************/
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*/
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void LED_OFF(LedTypeDef LEDNum)
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{
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LED_GPIO_PORT[LEDNum]->BRR = LED_GPIO_PIN[LEDNum];
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}
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/*******************************************************************************
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/**
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* Function Name : LED_TOGGLE
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* Description : Turn on/off LED
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* Input : LED Number
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* Output : None
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* Return : None
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*******************************************************************************/
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*/
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void LED_TOGGLE(LedTypeDef LEDNum)
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{
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LED_GPIO_PORT[LEDNum]->ODR ^= LED_GPIO_PIN[LEDNum];
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|
||||
@ -30,10 +30,6 @@
|
||||
#include "pios.h"
|
||||
|
||||
|
||||
/* Public Function Prototypes */
|
||||
void LoadSettings(void);
|
||||
|
||||
|
||||
/* Private Function Prototypes */
|
||||
|
||||
|
||||
@ -41,7 +37,7 @@ void LoadSettings(void);
|
||||
SettingsTypeDef Settings;
|
||||
|
||||
|
||||
/*******************************************************************************
|
||||
/**
|
||||
* Function Name : LoadSettings
|
||||
* Description : Populate System global Vars into Structs using MinIni,
|
||||
* : defaults are also set here. Only function in the file
|
||||
@ -50,7 +46,7 @@ SettingsTypeDef Settings;
|
||||
* Input : None
|
||||
* Output : None
|
||||
* Return : None
|
||||
*******************************************************************************/
|
||||
*/
|
||||
/* Value Reading: ini_getl("Section", "Key", (DefaultValue), IniFile); */
|
||||
/* String Reading: ini_gets("Section", "Key", "DefaultValue", StrBuffer, sizearray(StrBuffer), IniFile); */
|
||||
|
||||
|
||||
@ -30,10 +30,6 @@
|
||||
#include "pios.h"
|
||||
|
||||
|
||||
/* Public Function Prototypes */
|
||||
void SysInit(void);
|
||||
|
||||
|
||||
/* Private Function Prototypes */
|
||||
void NVIC_Configuration(void);
|
||||
|
||||
@ -42,13 +38,13 @@ void NVIC_Configuration(void);
|
||||
FATFS Fatfs[_DRIVES]; // File system object for each logical drive */
|
||||
|
||||
|
||||
/*******************************************************************************
|
||||
/**
|
||||
* Function Name : SysInit
|
||||
* Description : Brings up the System and Initializes peripherals
|
||||
* Input : None
|
||||
* Output : None
|
||||
* Return : None
|
||||
*******************************************************************************/
|
||||
*/
|
||||
//TODO: Get these in the right order, settings need to be loaded ASAP
|
||||
void SysInit(void)
|
||||
{
|
||||
@ -76,26 +72,26 @@ void SysInit(void)
|
||||
}
|
||||
|
||||
|
||||
/*******************************************************************************
|
||||
/**
|
||||
* Function Name : GPIO_Configuration
|
||||
* Description : Configures base level GPIO ports.
|
||||
* Input : None
|
||||
* Output : None
|
||||
* Return : None
|
||||
*******************************************************************************/
|
||||
*/
|
||||
void GPIO_Configuration(void)
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
|
||||
/*******************************************************************************
|
||||
/**
|
||||
* Function Name : NVIC_Configuration
|
||||
* Description : Configures Vector Table base location and SysTick
|
||||
* Input : None
|
||||
* Output : None
|
||||
* Return : None
|
||||
*******************************************************************************/
|
||||
*/
|
||||
void NVIC_Configuration(void)
|
||||
{
|
||||
/* Set the Vector Table base address as specified in .ld file */
|
||||
|
||||
@ -30,13 +30,6 @@
|
||||
#include "pios.h"
|
||||
|
||||
|
||||
/* Public Function Prototypes */
|
||||
void UARTInit(void);
|
||||
void EnableAuxUART(void);
|
||||
void DisableAuxUART(void);
|
||||
void UARTChangeBaud(USART_TypeDef* USARTx, uint32_t Baud);
|
||||
|
||||
|
||||
/* Private Function Prototypes */
|
||||
|
||||
|
||||
@ -52,13 +45,13 @@ static volatile u8 tx_buffer_head[UART_NUM];
|
||||
static volatile u8 tx_buffer_size[UART_NUM];
|
||||
|
||||
|
||||
/*******************************************************************************
|
||||
/**
|
||||
* Function Name : UARTInit
|
||||
* Description : Initialise the GPS and TELEM onboard UARTs
|
||||
* Input : None
|
||||
* Output : None
|
||||
* Return : None
|
||||
*******************************************************************************/
|
||||
*/
|
||||
void UARTInit(void)
|
||||
{
|
||||
GPIO_InitTypeDef GPIO_InitStructure;
|
||||
@ -149,40 +142,40 @@ void UARTInit(void)
|
||||
}
|
||||
|
||||
|
||||
/*******************************************************************************
|
||||
/**
|
||||
* Function Name : EnableAuxUART
|
||||
* Description : Enables AUX UART at the expense of servo inputs
|
||||
* Input : None
|
||||
* Output : None
|
||||
* Return : None
|
||||
*******************************************************************************/
|
||||
*/
|
||||
void EnableAuxUART(void)
|
||||
{
|
||||
//Implement after servo inputs are implemented
|
||||
}
|
||||
|
||||
|
||||
/*******************************************************************************
|
||||
/**
|
||||
* Function Name : DisableAuxUART
|
||||
* Description : Disables AUX UART reclaims two servo inputs
|
||||
* Input : None
|
||||
* Output : None
|
||||
* Return : None
|
||||
*******************************************************************************/
|
||||
*/
|
||||
void DisableAuxUART(void)
|
||||
{
|
||||
//Implement after servo inputs are implemented
|
||||
}
|
||||
|
||||
|
||||
/*******************************************************************************
|
||||
/**
|
||||
* Function Name : UARTInit
|
||||
* Description : Changes the baud rate of the USART peripherial without
|
||||
* : re-initialising.
|
||||
* Input : USART to change, new baud rate
|
||||
* Output : None
|
||||
* Return : None
|
||||
*******************************************************************************/
|
||||
*/
|
||||
void UARTChangeBaud(USART_TypeDef* USARTx, uint32_t Baud)
|
||||
{
|
||||
/* USART BRR Configuration */
|
||||
|
||||
Loading…
Reference in New Issue
Block a user