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mirror of https://bitbucket.org/librepilot/librepilot.git synced 2025-02-20 10:54:14 +01:00

Small re-factorings.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@230 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
gussy 2010-03-03 10:55:49 +00:00 committed by gussy
parent 0500fe88c9
commit a5d56cd537
2 changed files with 132 additions and 130 deletions

View File

@ -31,18 +31,18 @@
//------------------------
// DMA Channels Used
//------------------------
/* Channel 1 - */
/* Channel 2 - SPI1 RX */
/* Channel 3 - SPI1 TX */
/* Channel 4 - SPI2 RX */
/* Channel 5 - SPI2 TX */
/* Channel 6 - */
/* Channel 7 - */
/* Channel 8 - */
/* Channel 9 - */
/* Channel 10 - */
/* Channel 11 - */
/* Channel 12 - */
/* Channel 1 - */
/* Channel 2 - SPI1 RX */
/* Channel 3 - SPI1 TX */
/* Channel 4 - SPI2 RX */
/* Channel 5 - SPI2 TX */
/* Channel 6 - */
/* Channel 7 - */
/* Channel 8 - */
/* Channel 9 - */
/* Channel 10 - */
/* Channel 11 - */
/* Channel 12 - */
//------------------------
// PIOS_LED
@ -53,19 +53,19 @@
#define PIOS_LED_LED2_GPIO_PORT GPIOC
#define PIOS_LED_LED2_GPIO_PIN GPIO_Pin_13
#define PIOS_LED_LED2_GPIO_CLK RCC_APB2Periph_GPIOC
#define PIOS_LED_NUM 2
#define PIOS_LED_PORTS { PIOS_LED_LED1_GPIO_PORT, PIOS_LED_LED2_GPIO_PORT }
#define PIOS_LED_PINS { PIOS_LED_LED1_GPIO_PIN, PIOS_LED_LED2_GPIO_PIN }
#define PIOS_LED_CLKS { PIOS_LED_LED1_GPIO_CLK, PIOS_LED_LED2_GPIO_CLK }
#define PIOS_LED_NUM 2
#define PIOS_LED_PORTS { PIOS_LED_LED1_GPIO_PORT, PIOS_LED_LED2_GPIO_PORT }
#define PIOS_LED_PINS { PIOS_LED_LED1_GPIO_PIN, PIOS_LED_LED2_GPIO_PIN }
#define PIOS_LED_CLKS { PIOS_LED_LED1_GPIO_CLK, PIOS_LED_LED2_GPIO_CLK }
//------------------------
// PIOS_I2C
//------------------------
#define PIOS_I2C_GPIO_PORT GPIOB
#define PIOS_I2C_SDA_PIN GPIO_Pin_11
#define PIOS_I2C_SCL_PIN GPIO_Pin_10
#define PIOS_I2C_DUTY_CYCLE I2C_DutyCycle_2
#define PIOS_I2C_BUS_FREQ 400000
#define PIOS_I2C_GPIO_PORT GPIOB
#define PIOS_I2C_SDA_PIN GPIO_Pin_11
#define PIOS_I2C_SCL_PIN GPIO_Pin_10
#define PIOS_I2C_DUTY_CYCLE I2C_DutyCycle_2
#define PIOS_I2C_BUS_FREQ 400000
#define PIOS_I2C_TIMEOUT_VALUE 5000
#define PIOS_I2C_IRQ_EV_PRIORITY 2
#define PIOS_I2C_IRQ_ER_PRIORITY 2
@ -77,18 +77,18 @@
#define PIOS_BMP085_EOC_GPIO_PIN GPIO_Pin_15
#define PIOS_BMP085_EOC_PORT_SOURCE GPIO_PortSourceGPIOG
#define PIOS_BMP085_EOC_PIN_SOURCE GPIO_PinSource8
#define PIOS_BMP085_EOC_CLK RCC_APB2Periph_GPIOC
#define PIOS_BMP085_EOC_CLK RCC_APB2Periph_GPIOC
#define PIOS_BMP085_EOC_EXTI_LINE EXTI_Line15
#define PIOS_BMP085_EOC_IRQn EXTI15_10_IRQn
//-------------------------
// PIOS_USART1 (TELEM)
//-------------------------
#define PIOS_USART1_ENABLED 1
#define PIOS_USART1_USART USART2
#define PIOS_USART1_ENABLED 1
#define PIOS_USART1_USART USART2
#define PIOS_USART1_GPIO_PORT GPIOA
#define PIOS_USART1_RX_PIN GPIO_Pin_3
#define PIOS_USART1_TX_PIN GPIO_Pin_2
#define PIOS_USART1_RX_PIN GPIO_Pin_3
#define PIOS_USART1_TX_PIN GPIO_Pin_2
#define PIOS_USART1_REMAP_FUNC { }
#define PIOS_USART1_IRQ_CHANNEL USART2_IRQn
#define PIOS_USART1_IRQHANDLER_FUNC void USART2_IRQHandler(void)
@ -114,11 +114,11 @@
//-------------------------
// PIOS_USART3 (AUX) (RX5/RX6)
//-------------------------
#define PIOS_USART3_ENABLED 0
#define PIOS_USART3_USART USART1
#define PIOS_USART3_ENABLED 0
#define PIOS_USART3_USART USART1
#define PIOS_USART3_GPIO_PORT GPIOA
#define PIOS_USART3_RX_PIN GPIO_Pin_10
#define PIOS_USART3_TX_PIN GPIO_Pin_9
#define PIOS_USART3_RX_PIN GPIO_Pin_10
#define PIOS_USART3_TX_PIN GPIO_Pin_9
#define PIOS_USART3_REMAP_FUNC { }
#define PIOS_USART3_IRQ_CHANNEL USART1_IRQn
#define PIOS_USART3_IRQHANDLER_FUNC void USART1_IRQHandler(void)
@ -129,108 +129,108 @@
//-------------------------
// PIOS_USART
//-------------------------
#define PIOS_USART_NUM 3
#define PIOS_USART_NUM 3
#define PIOS_USART_RX_BUFFER_SIZE 1024
#define PIOS_USART_TX_BUFFER_SIZE 256
#define PIOS_COM_DEBUG_PORT GPS
#define PIOS_COM_DEBUG_PORT GPS
//-------------------------
// SPI
//-------------------------
#define PIOS_SPI_IRQ_DMA_PRIORITY PIOS_IRQ_PRIO_HIGH
#define PIOS_SPI_NUM 2
#define PIOS_SPI0_ENABLED 1
#define PIOS_SPI0_PTR SPI1
#define PIOS_SPI_NUM 2
#define PIOS_SPI0_ENABLED 1
#define PIOS_SPI0_PTR SPI1
#define PIOS_SPI0_DMA_RX_PTR DMA1_Channel2
#define PIOS_SPI0_DMA_TX_PTR DMA1_Channel3
#define PIOS_SPI0_DMA_RX_IRQ_FLAGS (DMA1_FLAG_TC2 | DMA1_FLAG_TE2 | DMA1_FLAG_HT2 | DMA1_FLAG_GL2)
#define PIOS_SPI0_DMA_IRQ_CHANNEL DMA1_Channel2_IRQn
#define PIOS_SPI0_DMA_IRQHANDLER_FUNC void DMA1_Channel2_IRQHandler(void)
#define PIOS_SPI0_DMA_IRQHANDLER_FUNC void DMA1_Channel2_IRQHandler(void)
#define PIOS_SPI0_RCLK1_PORT GPIOA
#define PIOS_SPI0_RCLK1_PIN GPIO_Pin_4
#define PIOS_SPI0_SCLK_PORT GPIOA
#define PIOS_SPI0_SCLK_PIN GPIO_Pin_5
#define PIOS_SPI0_MISO_PORT GPIOA
#define PIOS_SPI0_MISO_PIN GPIO_Pin_6
#define PIOS_SPI0_MOSI_PORT GPIOA
#define PIOS_SPI0_MOSI_PIN GPIO_Pin_7
#define PIOS_SPI1_ENABLED 1
#define PIOS_SPI1_PTR SPI2
#define PIOS_SPI0_RCLK1_PIN GPIO_Pin_4
#define PIOS_SPI0_SCLK_PORT GPIOA
#define PIOS_SPI0_SCLK_PIN GPIO_Pin_5
#define PIOS_SPI0_MISO_PORT GPIOA
#define PIOS_SPI0_MISO_PIN GPIO_Pin_6
#define PIOS_SPI0_MOSI_PORT GPIOA
#define PIOS_SPI0_MOSI_PIN GPIO_Pin_7
#define PIOS_SPI1_ENABLED 1
#define PIOS_SPI1_PTR SPI2
#define PIOS_SPI1_DMA_RX_PTR DMA1_Channel4
#define PIOS_SPI1_DMA_TX_PTR DMA1_Channel5
#define PIOS_SPI1_DMA_RX_IRQ_FLAGS (DMA1_FLAG_TC4 | DMA1_FLAG_TE4 | DMA1_FLAG_HT4 | DMA1_FLAG_GL4)
#define PIOS_SPI1_DMA_IRQ_CHANNEL DMA1_Channel4_IRQn
#define PIOS_SPI1_DMA_IRQHANDLER_FUNC void DMA1_Channel4_IRQHandler(void)
#define PIOS_SPI1_DMA_IRQHANDLER_FUNC void DMA1_Channel4_IRQHandler(void)
#define PIOS_SPI1_RCLK1_PORT GPIOB
#define PIOS_SPI1_RCLK1_PIN GPIO_Pin_12
#define PIOS_SPI1_SCLK_PORT GPIOB
#define PIOS_SPI1_SCLK_PIN GPIO_Pin_13
#define PIOS_SPI1_MISO_PORT GPIOB
#define PIOS_SPI1_MISO_PIN GPIO_Pin_14
#define PIOS_SPI1_MOSI_PORT GPIOB
#define PIOS_SPI1_MOSI_PIN GPIO_Pin_15
#define PIOS_SPI1_RCLK1_PIN GPIO_Pin_12
#define PIOS_SPI1_SCLK_PORT GPIOB
#define PIOS_SPI1_SCLK_PIN GPIO_Pin_13
#define PIOS_SPI1_MISO_PORT GPIOB
#define PIOS_SPI1_MISO_PIN GPIO_Pin_14
#define PIOS_SPI1_MOSI_PORT GPIOB
#define PIOS_SPI1_MOSI_PIN GPIO_Pin_15
//-------------------------
// PIOS_SDCARD
//-------------------------
#define PIOS_SDCARD_SPI 0
#define PIOS_SDCARD_SPI 0
//-------------------------
// Delay Timer
//-------------------------
#define PIOS_DELAY_TIMER TIM2
#define PIOS_DELAY_TIMER TIM2
#define PIOS_DELAY_TIMER_RCC RCC_APB1Periph_TIM2
//-------------------------
// Master Clock
//-------------------------
#define PIOS_MASTER_CLOCK 72000000
#define PIOS_MASTER_CLOCK 72000000
#define PIOS_PERIPHERAL_CLOCK (PIOS_MASTER_CLOCK / 2)
//-------------------------
// Interrupt Priorities
//-------------------------
#define PIOS_IRQ_PRIO_LOW 12 // lower than RTOS
#define PIOS_IRQ_PRIO_MID 8 // higher than RTOS
#define PIOS_IRQ_PRIO_HIGH 5 // for SPI, ADC, I2C etc...
#define PIOS_IRQ_PRIO_LOW 12 // lower than RTOS
#define PIOS_IRQ_PRIO_MID 8 // higher than RTOS
#define PIOS_IRQ_PRIO_HIGH 5 // for SPI, ADC, I2C etc...
#define PIOS_IRQ_PRIO_HIGHEST 4 // for USART etc...
//-------------------------
// Receiver PWM inputs
//-------------------------
#define RECEIVER1_GPIO_PORT GPIOB
#define RECEIVER1_PIN GPIO_Pin_0 // PB0
#define RECEIVER1_TIM_PORT TIM3
#define RECEIVER1_CH TIM_Channel_3 // TIM3_CH3
#define RECEIVER2_GPIO_PORT GPIOB
#define RECEIVER2_PIN GPIO_Pin_1 // PB1
#define RECEIVER2_TIM_PORT TIM3
#define RECEIVER2_CH TIM_Channel_4 // TIM3_CH4
#define RECEIVER3_GPIO_PORT GPIOA
#define RECEIVER3_PIN GPIO_Pin_8 // PA8
#define RECEIVER3_TIM_PORT TIM1
#define RECEIVER3_CH TIM_Channel_1 // TIM1_CH1
#define RECEIVER4_GPIO_PORT GPIOA
#define RECEIVER4_PIN GPIO_Pin_0 // PA0
#define RECEIVER4_TIM_PORT TIM5
#define RECEIVER4_CH TIM_Channel_1 // TIM5_CH1
#define RECEIVER5_GPIO_PORT GPIOA
#define RECEIVER5_PIN GPIO_Pin_10 // PA10
#define RECEIVER5_TIM_PORT TIM1
#define RECEIVER5_CH TIM_Channel_3 // TIM1_CH3
#define RECEIVER6_GPIO_PORT GPIOA
#define RECEIVER6_PIN GPIO_Pin_9 // PA9
#define RECEIVER6_TIM_PORT TIM1
#define RECEIVER6_CH TIM_Channel_2 // TIM1_CH2
#define RECEIVER7_GPIO_PORT GPIOB
#define RECEIVER7_PIN GPIO_Pin_4 // PB4
#define RECEIVER7_TIM_PORT TIM3
#define RECEIVER7_CH TIM_Channel_1 // TIM3_CH1
#define RECEIVER8_GPIO_PORT GPIOB
#define RECEIVER8_PIN GPIO_Pin_5 // PB5
#define RECEIVER8_TIM_PORT TIM3
#define RECEIVER8_CH TIM_Channel_2 // TIM3_CH2
#define NUM_RECEIVER_INPUTS 6
#define RECEIVER1_GPIO_PORT GPIOB
#define RECEIVER1_PIN GPIO_Pin_0 // PB0
#define RECEIVER1_TIM_PORT TIM3
#define RECEIVER1_CH TIM_Channel_3 // TIM3_CH3
#define RECEIVER2_GPIO_PORT GPIOB
#define RECEIVER2_PIN GPIO_Pin_1 // PB1
#define RECEIVER2_TIM_PORT TIM3
#define RECEIVER2_CH TIM_Channel_4 // TIM3_CH4
#define RECEIVER3_GPIO_PORT GPIOA
#define RECEIVER3_PIN GPIO_Pin_8 // PA8
#define RECEIVER3_TIM_PORT TIM1
#define RECEIVER3_CH TIM_Channel_1 // TIM1_CH1
#define RECEIVER4_GPIO_PORT GPIOA
#define RECEIVER4_PIN GPIO_Pin_0 // PA0
#define RECEIVER4_TIM_PORT TIM5
#define RECEIVER4_CH TIM_Channel_1 // TIM5_CH1
#define RECEIVER5_GPIO_PORT GPIOA
#define RECEIVER5_PIN GPIO_Pin_10 // PA10
#define RECEIVER5_TIM_PORT TIM1
#define RECEIVER5_CH TIM_Channel_3 // TIM1_CH3
#define RECEIVER6_GPIO_PORT GPIOA
#define RECEIVER6_PIN GPIO_Pin_9 // PA9
#define RECEIVER6_TIM_PORT TIM1
#define RECEIVER6_CH TIM_Channel_2 // TIM1_CH2
#define RECEIVER7_GPIO_PORT GPIOB
#define RECEIVER7_PIN GPIO_Pin_4 // PB4
#define RECEIVER7_TIM_PORT TIM3
#define RECEIVER7_CH TIM_Channel_1 // TIM3_CH1
#define RECEIVER8_GPIO_PORT GPIOB
#define RECEIVER8_PIN GPIO_Pin_5 // PB5
#define RECEIVER8_TIM_PORT TIM3
#define RECEIVER8_CH TIM_Channel_2 // TIM3_CH2
#define NUM_RECEIVER_INPUTS 8
//-------------------------
// Servo outputs
@ -248,25 +248,25 @@
#define PIOS_SERVO_NUM_OUTPUTS 8
#define PIOS_SERVO_NUM_TIMERS PIOS_SERVO_NUM_OUTPUTS
#define PIOS_SERVO_UPDATE_HZ 50
#define PIOS_SERVOS_INITIAL_POSITION 1500
#define PIOS_SERVOS_INITIAL_POSITION 1500
//-------------------------
// ADC
//-------------------------
#define ADC_GPIO_PORT GPIOC
#define ADC_Z_PIN GPIO_Pin_0 // ADC123_IN10
#define ADC_A_PIN GPIO_Pin_1 // ADC123_IN11
#define ADC_B_PIN GPIO_Pin_2 // ADC123_IN12
#define ADC_Z_CHANNEL ADC_Channel_10
#define ADC_A_CHANNEL ADC_Channel_11
#define ADC_B_CHANNEL ADC_Channel_12
#define NUM_ADC_PINS 4 // 3 but actually 4 because of temp sensor
#define ADC_IRQ_PRIO PIOS_IRQ_PRIO_HIGH
#define ADC_GPIO_PORT GPIOC
#define ADC_Z_PIN GPIO_Pin_0 // ADC123_IN10
#define ADC_A_PIN GPIO_Pin_1 // ADC123_IN11
#define ADC_B_PIN GPIO_Pin_2 // ADC123_IN12
#define ADC_Z_CHANNEL ADC_Channel_10
#define ADC_A_CHANNEL ADC_Channel_11
#define ADC_B_CHANNEL ADC_Channel_12
#define NUM_ADC_PINS 4 // 3 but actually 4 because of temp sensor
#define ADC_IRQ_PRIO PIOS_IRQ_PRIO_HIGH
//-------------------------
// USB
//-------------------------
#define PIOS_USB_ENABLED 1
#define PIOS_USB_ENABLED 1
#define PIOS_USB_DETECT_GPIO_PORT GPIOC
#define PIOS_USB_DETECT_GPIO_PIN GPIO_Pin_4
#define PIOS_IRQ_USB_PRIORITY PIOS_IRQ_PRIO_MID

View File

@ -122,6 +122,7 @@ void PIOS_Servo_SetHz(uint16_t onetofour, uint16_t fivetoeight)
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
#if 0
/* Clipping */
if(onetofour > 500) {
onetofour = 500;
@ -129,6 +130,7 @@ void PIOS_Servo_SetHz(uint16_t onetofour, uint16_t fivetoeight)
if(fivetoeight > 500) {
fivetoeight = 500;
}
#endif
TIM_TimeBaseStructure.TIM_Prescaler = (PIOS_MASTER_CLOCK / 1000000) - 1;
TIM_TimeBaseStructure.TIM_Period = ((1000000 / onetofour) - 1);
@ -141,53 +143,53 @@ void PIOS_Servo_SetHz(uint16_t onetofour, uint16_t fivetoeight)
/**
* Set servo position
* \param[in] Servo Servo number (0-7)
* \param[in] Servo Servo number (1-8)
* \param[in] Position Servo position in milliseconds
*/
void PIOS_Servo_Set(uint8_t Servo, uint16_t Position)
{
/* Make sure servo exists */
if (Servo < PIOS_SERVO_NUM_OUTPUTS && Servo >= 0)
{
/* Clip servo position */
if(Position < Settings.Servos.PositionMin) {
Position = Settings.Servos.PositionMin;
}
if(Position > Settings.Servos.PositionMax) {
Position = Settings.Servos.PositionMax;
}
/* Update the position */
ServoPosition[Servo] = Position;
switch(Servo)
{
case 0:
/* Make sure servo exists */
if (Servo < PIOS_SERVO_NUM_OUTPUTS && Servo >= 0)
{
/* Clip servo position */
if(Position < Settings.Servos.PositionMin) {
Position = Settings.Servos.PositionMin;
}
if(Position > Settings.Servos.PositionMax) {
Position = Settings.Servos.PositionMax;
}
/* Update the position */
ServoPosition[Servo] = Position;
switch(Servo)
{
case 1:
TIM_SetCompare1(TIM4, Position);
break;
case 1:
case 2:
TIM_SetCompare2(TIM4, Position);
break;
case 2:
case 3:
TIM_SetCompare3(TIM4, Position);
break;
case 3:
case 4:
TIM_SetCompare4(TIM4, Position);
break;
case 4:
case 5:
TIM_SetCompare1(TIM8, Position);
break;
case 5:
case 6:
TIM_SetCompare2(TIM8, Position);
break;
case 6:
case 7:
TIM_SetCompare3(TIM8, Position);
break;
case 7:
case 8:
TIM_SetCompare4(TIM8, Position);
break;
}
}
}
}
}
#endif