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Code Issues Releases Activity

OP-265 CC: Getting GPIO lines working

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2443 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
peabody124 2011-01-16 02:45:34 +00:00 committed by peabody124
parent d4460aa97f
commit ab75e8117f
2 changed files with 17 additions and 115 deletions
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113
flight/CopterControl/System/pios_board.c
View File

@ -83,105 +83,7 @@ void PIOS_Board_Init(void) {
PIOS_WDG_Init();
}
/* MicroSD Interface
*
* NOTE: Leave this declared as const data so that it ends up in the
* .rodata section (ie. Flash) rather than in the .bss section (RAM).
*/
void PIOS_SPI_sdcard_irq_handler(void);
void DMA1_Channel2_IRQHandler() __attribute__ ((alias ("PIOS_SPI_sdcard_irq_handler")));
void DMA1_Channel3_IRQHandler() __attribute__ ((alias ("PIOS_SPI_sdcard_irq_handler")));
const struct pios_spi_cfg pios_spi_sdcard_cfg = {
.regs = SPI1,
.init = {
.SPI_Mode = SPI_Mode_Master,
.SPI_Direction = SPI_Direction_2Lines_FullDuplex,
.SPI_DataSize = SPI_DataSize_8b,
.SPI_NSS = SPI_NSS_Soft,
.SPI_FirstBit = SPI_FirstBit_MSB,
.SPI_CRCPolynomial = 7,
.SPI_CPOL = SPI_CPOL_High,
.SPI_CPHA = SPI_CPHA_2Edge,
.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_256, /* Maximum divider (ie. slowest clock rate) */
},
.dma = {
.ahb_clk = RCC_AHBPeriph_DMA1,
.irq = {
.handler = PIOS_SPI_sdcard_irq_handler,
.flags = (DMA1_FLAG_TC2 | DMA1_FLAG_TE2 | DMA1_FLAG_HT2 | DMA1_FLAG_GL2),
.init = {
.NVIC_IRQChannel = DMA1_Channel2_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.rx = {
.channel = DMA1_Channel2,
.init = {
.DMA_PeripheralBaseAddr = (uint32_t)&(SPI1->DR),
.DMA_DIR = DMA_DIR_PeripheralSRC,
.DMA_PeripheralInc = DMA_PeripheralInc_Disable,
.DMA_MemoryInc = DMA_MemoryInc_Enable,
.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte,
.DMA_Mode = DMA_Mode_Normal,
.DMA_Priority = DMA_Priority_Medium,
.DMA_M2M = DMA_M2M_Disable,
},
},
.tx = {
.channel = DMA1_Channel3,
.init = {
.DMA_PeripheralBaseAddr = (uint32_t)&(SPI1->DR),
.DMA_DIR = DMA_DIR_PeripheralDST,
.DMA_PeripheralInc = DMA_PeripheralInc_Disable,
.DMA_MemoryInc = DMA_MemoryInc_Enable,
.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte,
.DMA_Mode = DMA_Mode_Normal,
.DMA_Priority = DMA_Priority_Medium,
.DMA_M2M = DMA_M2M_Disable,
},
},
},
.ssel = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_4,
.GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_Mode = GPIO_Mode_Out_PP,
},
},
.sclk = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_5,
.GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_Mode = GPIO_Mode_AF_PP,
},
},
.miso = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_6,
.GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_Mode = GPIO_Mode_IPU,
},
},
.mosi = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_7,
.GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_Mode = GPIO_Mode_AF_PP,
},
},
};
/* AHRS Interface
/* Flash/Accel Interface
*
* NOTE: Leave this declared as const data so that it ends up in the
* .rodata section (ie. Flash) rather than in the .bss section (RAM).
@ -189,7 +91,7 @@ const struct pios_spi_cfg pios_spi_sdcard_cfg = {
void PIOS_SPI_ahrs_irq_handler(void);
void DMA1_Channel4_IRQHandler() __attribute__ ((alias ("PIOS_SPI_ahrs_irq_handler")));
void DMA1_Channel5_IRQHandler() __attribute__ ((alias ("PIOS_SPI_ahrs_irq_handler")));
const struct pios_spi_cfg pios_spi_ahrs_cfg = {
const struct pios_spi_cfg pios_spi_flash_accel_cfg = {
.regs = SPI2,
.init = {
.SPI_Mode = SPI_Mode_Master,
@ -285,21 +187,12 @@ const struct pios_spi_cfg pios_spi_ahrs_cfg = {
*/
struct pios_spi_dev pios_spi_devs[] = {
{
.cfg = &pios_spi_sdcard_cfg,
},
{
.cfg = &pios_spi_ahrs_cfg,
.cfg = &pios_spi_flash_accel_cfg,
},
};
uint8_t pios_spi_num_devices = NELEMENTS(pios_spi_devs);
void PIOS_SPI_sdcard_irq_handler(void)
{
/* Call into the generic code to handle the IRQ for this specific device */
// PIOS_SPI_IRQ_Handler(PIOS_SDCARD_SPI);
}
void PIOS_SPI_ahrs_irq_handler(void)
{
/* Call into the generic code to handle the IRQ for this specific device */

19
flight/PiOS/Boards/STM32103CB_CC_Rev1.h
View File

@ -134,7 +134,8 @@ TIM4 | RC In 1 | Servo 3 | Servo 2 | Servo 1
//
// See also pios_board.c
//-------------------------
#define PIOS_SPI_OP 0
#define PIOS_SPI_FLASH 0
#define PIOS_SPI_ACCEL 0
//-------------------------
// PIOS_USART
@ -289,10 +290,18 @@ TIM4 | RC In 1 | Servo 3 | Servo 2 | Servo 1
//-------------------------
// GPIO
//-------------------------
#define PIOS_GPIO_PORTS { }
#define PIOS_GPIO_PINS { }
#define PIOS_GPIO_CLKS { }
#define PIOS_GPIO_NUM 0
#define PIOS_GPIO_1_PORT GPIOA
#define PIOS_GPIO_1_PIN GPIO_Pin_7
#define PIOS_GPIO_1_GPIO_CLK RCC_APB2Periph_GPIOA
#define PIOS_GPIO_PORTS { PIOS_GPIO_1_PORT }
#define PIOS_GPIO_PINS { PIOS_GPIO_1_PIN }
#define PIOS_GPIO_CLKS { PIOS_GPIO_1_GPIO_CLK }
#define PIOS_GPIO_NUM 1
#define PIOS_FLASH_ENABLE PIOS_GPIO_Off(0)
#define PIOS_FLASH_DISABLE PIOS_GPIO_On(0)
//-------------------------
// USB