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REVONANO - Fix and cleanup hw configurations, Baro working at this stage
This commit is contained in:
Alessio Morale
parent
805750050c
commit
8a54414d70
@ -620,15 +620,14 @@ static const struct pios_usart_cfg pios_usart_hkosd_flexi_cfg = {
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/*
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* I2C Adapters
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*/
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void PIOS_I2C_mag_pressure_adapter_ev_irq_handler(void);
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void PIOS_I2C_mag_pressureadapter_er_irq_handler(void);
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void I2C1_EV_IRQHandler()
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__attribute__((alias("PIOS_I2C_mag_pressure_adapter_ev_irq_handler")));
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void I2C1_ER_IRQHandler()
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__attribute__((alias("PIOS_I2C_mag_pressure_adapter_er_irq_handler")));
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static const struct pios_i2c_adapter_cfg pios_i2c_mag_pressure_adapter_cfg = {
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void PIOS_I2C_pressure_adapter_ev_irq_handler(void);
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void PIOS_I2C_pressureadapter_er_irq_handler(void);
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void I2C3_EV_IRQHandler()
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__attribute__((alias("PIOS_I2C_pressure_adapter_ev_irq_handler")));
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void I2C3_ER_IRQHandler()
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__attribute__((alias("PIOS_I2C_pressure_adapter_er_irq_handler")));
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static const struct pios_i2c_adapter_cfg pios_i2c_pressure_adapter_cfg = {
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.regs = I2C3,
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.remapSCL = GPIO_AF_I2C3,
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.remapSDA = GPIO_AF9_I2C3,
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@ -681,24 +680,24 @@ void PIOS_I2C_pressure_adapter_ev_irq_handler(void);
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},
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};
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uint32_t pios_i2c_mag_pressure_adapter_id;
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void PIOS_I2C_mag_pressure_adapter_ev_irq_handler(void)
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uint32_t pios_i2c_pressure_adapter_id;
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void PIOS_I2C_pressure_adapter_ev_irq_handler(void)
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{
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/* Call into the generic code to handle the IRQ for this specific device */
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PIOS_I2C_EV_IRQ_Handler(pios_i2c_mag_pressure_adapter_id);
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PIOS_I2C_EV_IRQ_Handler(pios_i2c_pressure_adapter_id);
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}
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void PIOS_I2C_mag_pressure_adapter_er_irq_handler(void)
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void PIOS_I2C_pressure_adapter_er_irq_handler(void)
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{
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/* Call into the generic code to handle the IRQ for this specific device */
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PIOS_I2C_ER_IRQ_Handler(pios_i2c_mag_pressure_adapter_id);
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PIOS_I2C_ER_IRQ_Handler(pios_i2c_pressure_adapter_id);
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}
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void PIOS_I2C_flexiport_adapter_ev_irq_handler(void);
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void PIOS_I2C_flexiport_adapter_er_irq_handler(void);
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void I2C2_EV_IRQHandler() __attribute__((alias("PIOS_I2C_flexiport_adapter_ev_irq_handler")));
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void I2C2_ER_IRQHandler() __attribute__((alias("PIOS_I2C_flexiport_adapter_er_irq_handler")));
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void I2C1_EV_IRQHandler() __attribute__((alias("PIOS_I2C_flexiport_adapter_ev_irq_handler")));
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void I2C1_ER_IRQHandler() __attribute__((alias("PIOS_I2C_flexiport_adapter_er_irq_handler")));
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static const struct pios_i2c_adapter_cfg pios_i2c_flexiport_adapter_cfg = {
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.regs = I2C1,
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@ -92,55 +92,6 @@ void PIOS_ADC_DMC_irq_handler(void)
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#endif /* if defined(PIOS_INCLUDE_ADC) */
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#if defined(PIOS_INCLUDE_HMC5X83)
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#include "pios_hmc5x83.h"
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pios_hmc5x83_dev_t onboard_mag = 0;
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bool pios_board_internal_mag_handler()
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{
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return PIOS_HMC5x83_IRQHandler(onboard_mag);
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}
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static const struct pios_exti_cfg pios_exti_hmc5x83_cfg __exti_config = {
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.vector = pios_board_internal_mag_handler,
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.line = EXTI_Line7,
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.pin = {
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.gpio = GPIOB,
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.init = {
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.GPIO_Pin = GPIO_Pin_7,
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.GPIO_Speed = GPIO_Speed_100MHz,
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.GPIO_Mode = GPIO_Mode_IN,
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.GPIO_OType = GPIO_OType_OD,
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.GPIO_PuPd = GPIO_PuPd_NOPULL,
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},
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},
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.irq = {
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.init = {
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.NVIC_IRQChannel = EXTI9_5_IRQn,
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.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW,
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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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.exti = {
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.init = {
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.EXTI_Line = EXTI_Line7, // matches above GPIO pin
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.EXTI_Mode = EXTI_Mode_Interrupt,
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.EXTI_Trigger = EXTI_Trigger_Rising,
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.EXTI_LineCmd = ENABLE,
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},
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},
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};
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static const struct pios_hmc5x83_cfg pios_hmc5x83_cfg = {
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.exti_cfg = &pios_exti_hmc5x83_cfg,
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.M_ODR = PIOS_HMC5x83_ODR_75,
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.Meas_Conf = PIOS_HMC5x83_MEASCONF_NORMAL,
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.Gain = PIOS_HMC5x83_GAIN_1_9,
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.Mode = PIOS_HMC5x83_MODE_CONTINUOUS,
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.Driver = &PIOS_HMC5x83_I2C_DRIVER,
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};
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#endif /* PIOS_INCLUDE_HMC5X83 */
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/**
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* Configuration for the MS5611 chip
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*/
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@ -245,10 +196,6 @@ uint32_t pios_com_hkosd_id = 0;
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uint32_t pios_com_vcp_id = 0;
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#if defined(PIOS_INCLUDE_RFM22B)
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uint32_t pios_rfm22b_id = 0;
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#endif
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uintptr_t pios_uavo_settings_fs_id;
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uintptr_t pios_user_fs_id;
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@ -435,7 +382,6 @@ void PIOS_Board_Init(void)
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/* Set up pulse timers */
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PIOS_TIM_InitClock(&tim_1_cfg);
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PIOS_TIM_InitClock(&tim_3_cfg);
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// PIOS_TIM_InitClock(&tim_4_cfg);
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PIOS_TIM_InitClock(&tim_5_cfg);
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PIOS_TIM_InitClock(&tim_9_cfg);
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PIOS_TIM_InitClock(&tim_10_cfg);
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@ -656,7 +602,8 @@ void PIOS_Board_Init(void)
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/* Configure FlexiPort */
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uint8_t hwsettings_flexiport;
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HwSettingsRM_FlexiPortGet(&hwsettings_flexiport);
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// HwSettingsRM_FlexiPortGet(&hwsettings_flexiport);
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hwsettings_flexiport = HWSETTINGS_RM_FLEXIPORT_TELEMETRY;
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switch (hwsettings_flexiport) {
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case HWSETTINGS_RM_FLEXIPORT_DISABLED:
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break;
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@ -696,121 +643,6 @@ void PIOS_Board_Init(void)
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} /* hwsettings_rm_flexiport */
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/* Initalize the RFM22B radio COM device. */
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#if defined(PIOS_INCLUDE_RFM22B)
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/* Fetch the OPinkSettings object. */
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OPLinkSettingsData oplinkSettings;
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OPLinkSettingsGet(&oplinkSettings);
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// Initialize out status object.
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OPLinkStatusData oplinkStatus;
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OPLinkStatusGet(&oplinkStatus);
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oplinkStatus.BoardType = bdinfo->board_type;
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PIOS_BL_HELPER_FLASH_Read_Description(oplinkStatus.Description, OPLINKSTATUS_DESCRIPTION_NUMELEM);
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PIOS_SYS_SerialNumberGetBinary(oplinkStatus.CPUSerial);
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oplinkStatus.BoardRevision = bdinfo->board_rev;
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/* Is the radio turned on? */
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bool is_coordinator = (oplinkSettings.Coordinator == OPLINKSETTINGS_COORDINATOR_TRUE);
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bool is_oneway = (oplinkSettings.OneWay == OPLINKSETTINGS_ONEWAY_TRUE);
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bool ppm_mode = (oplinkSettings.PPM == OPLINKSETTINGS_PPM_TRUE);
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bool ppm_only = (oplinkSettings.PPMOnly == OPLINKSETTINGS_PPMONLY_TRUE);
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if (oplinkSettings.MaxRFPower != OPLINKSETTINGS_MAXRFPOWER_0) {
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/* Configure the RFM22B device. */
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const struct pios_rfm22b_cfg *rfm22b_cfg = PIOS_BOARD_HW_DEFS_GetRfm22Cfg(bdinfo->board_rev);
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if (PIOS_RFM22B_Init(&pios_rfm22b_id, PIOS_RFM22_SPI_PORT, rfm22b_cfg->slave_num, rfm22b_cfg)) {
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PIOS_Assert(0);
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}
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/* Configure the radio com interface */
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uint8_t *rx_buffer = (uint8_t *)pios_malloc(PIOS_COM_RFM22B_RF_RX_BUF_LEN);
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uint8_t *tx_buffer = (uint8_t *)pios_malloc(PIOS_COM_RFM22B_RF_TX_BUF_LEN);
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PIOS_Assert(rx_buffer);
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PIOS_Assert(tx_buffer);
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if (PIOS_COM_Init(&pios_com_rf_id, &pios_rfm22b_com_driver, pios_rfm22b_id,
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rx_buffer, PIOS_COM_RFM22B_RF_RX_BUF_LEN,
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tx_buffer, PIOS_COM_RFM22B_RF_TX_BUF_LEN)) {
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PIOS_Assert(0);
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}
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/* Set Telemetry to use OPLinkMini if no other telemetry is configured (USB always overrides anyway) */
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if (!pios_com_telem_rf_id) {
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pios_com_telem_rf_id = pios_com_rf_id;
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}
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oplinkStatus.LinkState = OPLINKSTATUS_LINKSTATE_ENABLED;
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// Set the RF data rate on the modem to ~2X the selected buad rate because the modem is half duplex.
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enum rfm22b_datarate datarate = RFM22_datarate_64000;
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switch (oplinkSettings.ComSpeed) {
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case OPLINKSETTINGS_COMSPEED_4800:
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datarate = RFM22_datarate_9600;
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break;
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case OPLINKSETTINGS_COMSPEED_9600:
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datarate = RFM22_datarate_19200;
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break;
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case OPLINKSETTINGS_COMSPEED_19200:
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datarate = RFM22_datarate_32000;
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break;
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case OPLINKSETTINGS_COMSPEED_38400:
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datarate = RFM22_datarate_64000;
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break;
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case OPLINKSETTINGS_COMSPEED_57600:
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datarate = RFM22_datarate_100000;
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break;
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case OPLINKSETTINGS_COMSPEED_115200:
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datarate = RFM22_datarate_192000;
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break;
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}
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/* Set the radio configuration parameters. */
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PIOS_RFM22B_SetChannelConfig(pios_rfm22b_id, datarate, oplinkSettings.MinChannel, oplinkSettings.MaxChannel, oplinkSettings.ChannelSet, is_coordinator, is_oneway, ppm_mode, ppm_only);
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PIOS_RFM22B_SetCoordinatorID(pios_rfm22b_id, oplinkSettings.CoordID);
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/* Set the PPM callback if we should be receiving PPM. */
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if (ppm_mode) {
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PIOS_RFM22B_SetPPMCallback(pios_rfm22b_id, PIOS_Board_PPM_callback);
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}
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/* Set the modem Tx poer level */
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switch (oplinkSettings.MaxRFPower) {
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case OPLINKSETTINGS_MAXRFPOWER_125:
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PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_0);
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break;
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case OPLINKSETTINGS_MAXRFPOWER_16:
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PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_1);
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break;
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case OPLINKSETTINGS_MAXRFPOWER_316:
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PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_2);
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break;
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case OPLINKSETTINGS_MAXRFPOWER_63:
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PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_3);
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break;
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case OPLINKSETTINGS_MAXRFPOWER_126:
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PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_4);
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break;
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case OPLINKSETTINGS_MAXRFPOWER_25:
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PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_5);
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break;
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case OPLINKSETTINGS_MAXRFPOWER_50:
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PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_6);
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break;
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case OPLINKSETTINGS_MAXRFPOWER_100:
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PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_7);
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break;
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default:
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// do nothing
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break;
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}
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/* Reinitialize the modem. */
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PIOS_RFM22B_Reinit(pios_rfm22b_id);
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} else {
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oplinkStatus.LinkState = OPLINKSTATUS_LINKSTATE_DISABLED;
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}
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OPLinkStatusSet(&oplinkStatus);
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#endif /* PIOS_INCLUDE_RFM22B */
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#if defined(PIOS_INCLUDE_PWM) || defined(PIOS_INCLUDE_PWM)
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const struct pios_servo_cfg *pios_servo_cfg;
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@ -897,7 +729,7 @@ void PIOS_Board_Init(void)
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};
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GPIO_Init(GPIOA, &gpioA8);
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if (PIOS_I2C_Init(&pios_i2c_mag_pressure_adapter_id, &pios_i2c_mag_pressure_adapter_cfg)) {
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if (PIOS_I2C_Init(&pios_i2c_pressure_adapter_id, &pios_i2c_pressure_adapter_cfg)) {
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PIOS_DEBUG_Assert(0);
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}
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@ -907,12 +739,8 @@ void PIOS_Board_Init(void)
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PIOS_ADC_Init(&pios_adc_cfg);
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#endif
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#if defined(PIOS_INCLUDE_HMC5X83)
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onboard_mag = PIOS_HMC5x83_Init(&pios_hmc5x83_cfg, pios_i2c_mag_pressure_adapter_id, 0);
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#endif
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#if defined(PIOS_INCLUDE_MS5611)
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PIOS_MS5611_Init(&pios_ms5611_cfg, pios_i2c_mag_pressure_adapter_id);
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PIOS_MS5611_Init(&pios_ms5611_cfg, pios_i2c_pressure_adapter_id);
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#endif
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#if defined(PIOS_INCLUDE_MPU6000)
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