mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2025-01-18 03:52:11 +01:00
Added some files to the PipXtreme folder.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1955 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
pip
pip
parent
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commit
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163
flight/PipXtreme/crc.c
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163
flight/PipXtreme/crc.c
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#include "crc.h"
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// **************************************************************************
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#define Poly16 0x8408 // HDLC polynomial: 1 + x**5 + x**12 + x**16
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#define Poly32 0x04c11db7 // 32-bit polynomial .. this should produce the same as the STM32 hardware CRC
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static const uint16_t CRC_Table16[] = { // HDLC polynomial
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0x0000, 0x1189, 0x2312, 0x329b, 0x4624, 0x57ad, 0x6536, 0x74bf,
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0x8c48, 0x9dc1, 0xaf5a, 0xbed3, 0xca6c, 0xdbe5, 0xe97e, 0xf8f7,
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0x1081, 0x0108, 0x3393, 0x221a, 0x56a5, 0x472c, 0x75b7, 0x643e,
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0x9cc9, 0x8d40, 0xbfdb, 0xae52, 0xdaed, 0xcb64, 0xf9ff, 0xe876,
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0x2102, 0x308b, 0x0210, 0x1399, 0x6726, 0x76af, 0x4434, 0x55bd,
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0xad4a, 0xbcc3, 0x8e58, 0x9fd1, 0xeb6e, 0xfae7, 0xc87c, 0xd9f5,
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0x3183, 0x200a, 0x1291, 0x0318, 0x77a7, 0x662e, 0x54b5, 0x453c,
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0xbdcb, 0xac42, 0x9ed9, 0x8f50, 0xfbef, 0xea66, 0xd8fd, 0xc974,
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0x4204, 0x538d, 0x6116, 0x709f, 0x0420, 0x15a9, 0x2732, 0x36bb,
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0xce4c, 0xdfc5, 0xed5e, 0xfcd7, 0x8868, 0x99e1, 0xab7a, 0xbaf3,
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0x5285, 0x430c, 0x7197, 0x601e, 0x14a1, 0x0528, 0x37b3, 0x263a,
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0xdecd, 0xcf44, 0xfddf, 0xec56, 0x98e9, 0x8960, 0xbbfb, 0xaa72,
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0x6306, 0x728f, 0x4014, 0x519d, 0x2522, 0x34ab, 0x0630, 0x17b9,
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0xef4e, 0xfec7, 0xcc5c, 0xddd5, 0xa96a, 0xb8e3, 0x8a78, 0x9bf1,
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0x7387, 0x620e, 0x5095, 0x411c, 0x35a3, 0x242a, 0x16b1, 0x0738,
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0xffcf, 0xee46, 0xdcdd, 0xcd54, 0xb9eb, 0xa862, 0x9af9, 0x8b70,
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0x8408, 0x9581, 0xa71a, 0xb693, 0xc22c, 0xd3a5, 0xe13e, 0xf0b7,
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0x0840, 0x19c9, 0x2b52, 0x3adb, 0x4e64, 0x5fed, 0x6d76, 0x7cff,
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0x9489, 0x8500, 0xb79b, 0xa612, 0xd2ad, 0xc324, 0xf1bf, 0xe036,
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0x18c1, 0x0948, 0x3bd3, 0x2a5a, 0x5ee5, 0x4f6c, 0x7df7, 0x6c7e,
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0xa50a, 0xb483, 0x8618, 0x9791, 0xe32e, 0xf2a7, 0xc03c, 0xd1b5,
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0x2942, 0x38cb, 0x0a50, 0x1bd9, 0x6f66, 0x7eef, 0x4c74, 0x5dfd,
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0xb58b, 0xa402, 0x9699, 0x8710, 0xf3af, 0xe226, 0xd0bd, 0xc134,
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0x39c3, 0x284a, 0x1ad1, 0x0b58, 0x7fe7, 0x6e6e, 0x5cf5, 0x4d7c,
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0xc60c, 0xd785, 0xe51e, 0xf497, 0x8028, 0x91a1, 0xa33a, 0xb2b3,
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0x4a44, 0x5bcd, 0x6956, 0x78df, 0x0c60, 0x1de9, 0x2f72, 0x3efb,
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0xd68d, 0xc704, 0xf59f, 0xe416, 0x90a9, 0x8120, 0xb3bb, 0xa232,
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0x5ac5, 0x4b4c, 0x79d7, 0x685e, 0x1ce1, 0x0d68, 0x3ff3, 0x2e7a,
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0xe70e, 0xf687, 0xc41c, 0xd595, 0xa12a, 0xb0a3, 0x8238, 0x93b1,
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0x6b46, 0x7acf, 0x4854, 0x59dd, 0x2d62, 0x3ceb, 0x0e70, 0x1ff9,
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0xf78f, 0xe606, 0xd49d, 0xc514, 0xb1ab, 0xa022, 0x92b9, 0x8330,
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0x7bc7, 0x6a4e, 0x58d5, 0x495c, 0x3de3, 0x2c6a, 0x1ef1, 0x0f78
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};
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static const uint32_t CRC_Table32[] = {
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0x00000000, 0x04c11db7, 0x09823b6e, 0x0d4326d9, 0x130476dc, 0x17c56b6b, 0x1a864db2, 0x1e475005,
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0x2608edb8, 0x22c9f00f, 0x2f8ad6d6, 0x2b4bcb61, 0x350c9b64, 0x31cd86d3, 0x3c8ea00a, 0x384fbdbd,
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0x4c11db70, 0x48d0c6c7, 0x4593e01e, 0x4152fda9, 0x5f15adac, 0x5bd4b01b, 0x569796c2, 0x52568b75,
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0x6a1936c8, 0x6ed82b7f, 0x639b0da6, 0x675a1011, 0x791d4014, 0x7ddc5da3, 0x709f7b7a, 0x745e66cd,
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0x9823b6e0, 0x9ce2ab57, 0x91a18d8e, 0x95609039, 0x8b27c03c, 0x8fe6dd8b, 0x82a5fb52, 0x8664e6e5,
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0xbe2b5b58, 0xbaea46ef, 0xb7a96036, 0xb3687d81, 0xad2f2d84, 0xa9ee3033, 0xa4ad16ea, 0xa06c0b5d,
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0xd4326d90, 0xd0f37027, 0xddb056fe, 0xd9714b49, 0xc7361b4c, 0xc3f706fb, 0xceb42022, 0xca753d95,
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0xf23a8028, 0xf6fb9d9f, 0xfbb8bb46, 0xff79a6f1, 0xe13ef6f4, 0xe5ffeb43, 0xe8bccd9a, 0xec7dd02d,
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0x34867077, 0x30476dc0, 0x3d044b19, 0x39c556ae, 0x278206ab, 0x23431b1c, 0x2e003dc5, 0x2ac12072,
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0x128e9dcf, 0x164f8078, 0x1b0ca6a1, 0x1fcdbb16, 0x018aeb13, 0x054bf6a4, 0x0808d07d, 0x0cc9cdca,
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0x7897ab07, 0x7c56b6b0, 0x71159069, 0x75d48dde, 0x6b93dddb, 0x6f52c06c, 0x6211e6b5, 0x66d0fb02,
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0x5e9f46bf, 0x5a5e5b08, 0x571d7dd1, 0x53dc6066, 0x4d9b3063, 0x495a2dd4, 0x44190b0d, 0x40d816ba,
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0xaca5c697, 0xa864db20, 0xa527fdf9, 0xa1e6e04e, 0xbfa1b04b, 0xbb60adfc, 0xb6238b25, 0xb2e29692,
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0x8aad2b2f, 0x8e6c3698, 0x832f1041, 0x87ee0df6, 0x99a95df3, 0x9d684044, 0x902b669d, 0x94ea7b2a,
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0xe0b41de7, 0xe4750050, 0xe9362689, 0xedf73b3e, 0xf3b06b3b, 0xf771768c, 0xfa325055, 0xfef34de2,
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0xc6bcf05f, 0xc27dede8, 0xcf3ecb31, 0xcbffd686, 0xd5b88683, 0xd1799b34, 0xdc3abded, 0xd8fba05a,
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0x690ce0ee, 0x6dcdfd59, 0x608edb80, 0x644fc637, 0x7a089632, 0x7ec98b85, 0x738aad5c, 0x774bb0eb,
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0x4f040d56, 0x4bc510e1, 0x46863638, 0x42472b8f, 0x5c007b8a, 0x58c1663d, 0x558240e4, 0x51435d53,
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0x251d3b9e, 0x21dc2629, 0x2c9f00f0, 0x285e1d47, 0x36194d42, 0x32d850f5, 0x3f9b762c, 0x3b5a6b9b,
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0x0315d626, 0x07d4cb91, 0x0a97ed48, 0x0e56f0ff, 0x1011a0fa, 0x14d0bd4d, 0x19939b94, 0x1d528623,
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0xf12f560e, 0xf5ee4bb9, 0xf8ad6d60, 0xfc6c70d7, 0xe22b20d2, 0xe6ea3d65, 0xeba91bbc, 0xef68060b,
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0xd727bbb6, 0xd3e6a601, 0xdea580d8, 0xda649d6f, 0xc423cd6a, 0xc0e2d0dd, 0xcda1f604, 0xc960ebb3,
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0xbd3e8d7e, 0xb9ff90c9, 0xb4bcb610, 0xb07daba7, 0xae3afba2, 0xaafbe615, 0xa7b8c0cc, 0xa379dd7b,
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0x9b3660c6, 0x9ff77d71, 0x92b45ba8, 0x9675461f, 0x8832161a, 0x8cf30bad, 0x81b02d74, 0x857130c3,
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0x5d8a9099, 0x594b8d2e, 0x5408abf7, 0x50c9b640, 0x4e8ee645, 0x4a4ffbf2, 0x470cdd2b, 0x43cdc09c,
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0x7b827d21, 0x7f436096, 0x7200464f, 0x76c15bf8, 0x68860bfd, 0x6c47164a, 0x61043093, 0x65c52d24,
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0x119b4be9, 0x155a565e, 0x18197087, 0x1cd86d30, 0x029f3d35, 0x065e2082, 0x0b1d065b, 0x0fdc1bec,
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0x3793a651, 0x3352bbe6, 0x3e119d3f, 0x3ad08088, 0x2497d08d, 0x2056cd3a, 0x2d15ebe3, 0x29d4f654,
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0xc5a92679, 0xc1683bce, 0xcc2b1d17, 0xc8ea00a0, 0xd6ad50a5, 0xd26c4d12, 0xdf2f6bcb, 0xdbee767c,
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0xe3a1cbc1, 0xe760d676, 0xea23f0af, 0xeee2ed18, 0xf0a5bd1d, 0xf464a0aa, 0xf9278673, 0xfde69bc4,
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0x89b8fd09, 0x8d79e0be, 0x803ac667, 0x84fbdbd0, 0x9abc8bd5, 0x9e7d9662, 0x933eb0bb, 0x97ffad0c,
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0xafb010b1, 0xab710d06, 0xa6322bdf, 0xa2f33668, 0xbcb4666d, 0xb8757bda, 0xb5365d03, 0xb1f740b4
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};
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// **************************************************************************
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// 16-bit CRC
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inline uint16_t UpdateCRC16(uint16_t crc, uint8_t b)
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{ // update the crc - table method
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return ((crc >> 8) ^ CRC_Table16[(crc & 0xff) ^ b]);
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}
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/*
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uint16_t UpdateCRC16(uint16_t crc, uint8_t b)
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{ // update the fcs - bit band method
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register uint8_t f = (uint8_t)(crc >> 8);
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crc = (crc & 0x00ff) ^ b;
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for (int i = 8; i > 0; i--)
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crc = (crc & 1) ? (crc >> 1) ^ Poly16 : crc >> 1;
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return (crc ^ f);
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}
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*/
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uint16_t UpdateCRC16Data(uint16_t crc, void *data, uint32_t len)
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{
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register uint8_t *p = (uint8_t *)data;
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for (register uint32_t i = len; i > 0; i--)
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crc = (crc >> 8) ^ CRC_Table16[(crc & 0xff) ^ *p++];
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// crc = UpdateCRC16(crc, *p++);
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return crc;
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}
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/*
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// Generate the CRC table
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void MakeCRC_Table16(void)
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{
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for (uint16_t i = 0; i < 256; i++)
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{
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uint16_t crc = i;
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for (int j = 8; j > 0; j--)
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crc = (crc & 1) ? (crc >> 1) ^ Poly16 : crc >> 1;
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CRC_Table16[i] = crc;
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}
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}
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*/
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// **************************************************************************
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// 32-bit CRC
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inline uint32_t UpdateCRC32(uint32_t crc, uint8_t b)
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{
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return ((crc << 8) ^ CRC_Table32[(crc >> 24) ^ b]);
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}
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/*
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uint32_t UpdateCRC32(uint32_t crc, uint8_t b)
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{ // update the crc - bit bang method
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register uint32_t f = crc << 8;
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crc = (crc >> 24) ^ b;
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for (int i = 8; i > 0; i--)
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crc = (crc & 1) ? (crc << 1) ^ Poly32 : crc << 1;
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return (crc ^ f);
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}
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*/
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uint32_t UpdateCRC32Data(uint32_t crc, void *data, uint32_t len)
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{
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register uint8_t *p = (uint8_t *)data;
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for (register uint32_t i = len; i > 0; i--)
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crc = (crc << 8) ^ CRC_Table32[(crc >> 24) ^ *p++];
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// crc = UpdateCRC32(crc, *p++);
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return crc;
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}
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/*
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// Generate the CRC table
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void MakeCRC_Table32(void)
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{
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for (uint32_t i = 0; i < 256; i++)
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{
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uint32_t crc = i;
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for (int j = 8; j > 0; j--)
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crc = (crc & 1) ? (crc << 1) ^ Poly32 : crc << 1;
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CRC_Table32[i] = crc;
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}
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}
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*/
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// **************************************************************************
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void CRC_init(void)
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{
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// MakeCRC_Table16();
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// MakeCRC_Table32();
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}
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// **************************************************************************
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182
flight/PipXtreme/gpio_in.c
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182
flight/PipXtreme/gpio_in.c
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/**
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******************************************************************************
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*
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* @file gpio_in.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief GPIO input functions
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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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* (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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* 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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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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/* *****************************************************************
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// Example pin definitions .. this would go into your pios_board.h file
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// GPIO_Mode_AIN Analog Input
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// GPIO_Mode_IN_FLOATING Input Floating
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// GPIO_Mode_IPD Input Pull-Down
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// GPIO_Mode_IPU Input Pull-up
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// API mode line
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#define GPIO_IN_0_PORT GPIOB
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#define GPIO_IN_0_PIN GPIO_Pin_13
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#define GPIO_IN_0_MODE GPIO_Mode_IPU
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// Serial port CTS line
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#define GPIO_IN_1_PORT GPIOB
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#define GPIO_IN_1_PIN GPIO_Pin_14
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#define GPIO_IN_1_MODE GPIO_Mode_IPU
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#define GPIO_IN_NUM 2
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#define GPIO_IN_PORTS { GPIO_IN_0_PORT, GPIO_IN_1_PORT }
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#define GPIO_IN_PINS { GPIO_IN_0_PIN, GPIO_IN_1_PIN }
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#define GPIO_IN_MODES { GPIO_IN_0_MODE, GPIO_IN_1_MODE }
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#define API_MODE_PIN 0
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#define SERIAL_CTS_PIN 1
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*********************************************************************
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Example usage ..
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{
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// setup all the GPIO input pins
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GPIO_IN_Init();
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if (!GPIO_IN(API_MODE_PIN))
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{ // pin is LOW
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}
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else
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{ // pin is HIGH
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}
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}
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***************************************************************************** */
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|
||||||
|
|
||||||
|
#include <pios.h>
|
||||||
|
|
||||||
|
#include "gpio_in.h"
|
||||||
|
|
||||||
|
// *****************************************************************************
|
||||||
|
// setup the GPIO input pins
|
||||||
|
|
||||||
|
// PORT ..
|
||||||
|
// GPIOA
|
||||||
|
// GPIOB
|
||||||
|
// GPIOC
|
||||||
|
// GPIOD
|
||||||
|
// GPIOE
|
||||||
|
// GPIOF
|
||||||
|
// GPIOG
|
||||||
|
|
||||||
|
// PIN ..
|
||||||
|
// GPIO_Pin_0
|
||||||
|
// GPIO_Pin_1
|
||||||
|
// GPIO_Pin_2
|
||||||
|
// GPIO_Pin_3
|
||||||
|
// GPIO_Pin_4
|
||||||
|
// GPIO_Pin_5
|
||||||
|
// GPIO_Pin_6
|
||||||
|
// GPIO_Pin_7
|
||||||
|
// GPIO_Pin_8
|
||||||
|
// GPIO_Pin_9
|
||||||
|
// GPIO_Pin_10
|
||||||
|
// GPIO_Pin_11
|
||||||
|
// GPIO_Pin_12
|
||||||
|
// GPIO_Pin_13
|
||||||
|
// GPIO_Pin_14
|
||||||
|
// GPIO_Pin_15
|
||||||
|
|
||||||
|
// MODE ..
|
||||||
|
// GPIO_Mode_AIN Analog Input
|
||||||
|
// GPIO_Mode_IN_FLOATING Input Floating
|
||||||
|
// GPIO_Mode_IPD Input Pull-Down
|
||||||
|
// GPIO_Mode_IPU Input Pull-up
|
||||||
|
|
||||||
|
#if defined(GPIO_IN_NUM) && defined(GPIO_IN_PORTS) && defined(GPIO_IN_PINS) && defined(GPIO_IN_MODES)
|
||||||
|
// #if defined(PIOS_INCLUDE_GPIO_IN) && defined(PIOS_GPIO_IN_NUM) && defined(PIOS_GPIO_IN_PORTS) && defined(PIOS_GPIO_IN_PINS) && defined(PIOS_GPIO_IN_MODES)
|
||||||
|
|
||||||
|
// Local Variables
|
||||||
|
static GPIO_TypeDef *GPIO_IN_PORT[GPIO_IN_NUM] = GPIO_IN_PORTS;
|
||||||
|
static const uint32_t GPIO_IN_PIN[GPIO_IN_NUM] = GPIO_IN_PINS;
|
||||||
|
static const uint32_t GPIO_IN_MODE[GPIO_IN_NUM] = GPIO_IN_MODES;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Initialises all the GPIO INPUT's
|
||||||
|
*/
|
||||||
|
void GPIO_IN_Init(void)
|
||||||
|
{
|
||||||
|
GPIO_InitTypeDef GPIO_InitStructure;
|
||||||
|
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
|
||||||
|
|
||||||
|
for (int i = 0; i < GPIO_IN_NUM; i++)
|
||||||
|
{
|
||||||
|
switch ((uint32_t)GPIO_IN_PORT[i])
|
||||||
|
{
|
||||||
|
case (uint32_t)GPIOA: RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE); break;
|
||||||
|
case (uint32_t)GPIOB: RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE); break;
|
||||||
|
case (uint32_t)GPIOC: RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC, ENABLE); break;
|
||||||
|
case (uint32_t)GPIOD: RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOD, ENABLE); break;
|
||||||
|
case (uint32_t)GPIOE: RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOE, ENABLE); break;
|
||||||
|
case (uint32_t)GPIOF: RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOF, ENABLE); break;
|
||||||
|
case (uint32_t)GPIOG: RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOG, ENABLE); break;
|
||||||
|
}
|
||||||
|
GPIO_InitStructure.GPIO_Pin = GPIO_IN_PIN[i];
|
||||||
|
GPIO_InitStructure.GPIO_Mode = GPIO_IN_MODE[i];
|
||||||
|
GPIO_Init(GPIO_IN_PORT[i], &GPIO_InitStructure);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Read input pin level
|
||||||
|
* \param[num] Pin Pin Number
|
||||||
|
*/
|
||||||
|
bool GPIO_IN(uint8_t num)
|
||||||
|
{ // return ..
|
||||||
|
// FALSE if the input pin is LOW
|
||||||
|
// TRUE if the input pin is HIGH
|
||||||
|
if (num >= GPIO_IN_NUM) return FALSE;
|
||||||
|
return ((GPIO_IN_PORT[num]->IDR & GPIO_IN_PIN[num]) != 0);
|
||||||
|
}
|
||||||
|
|
||||||
|
#endif
|
||||||
|
|
||||||
|
// ***********************************************************************************
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @}
|
||||||
|
* @}
|
||||||
|
*/
|
||||||
19
flight/PipXtreme/inc/crc.h
Normal file
19
flight/PipXtreme/inc/crc.h
Normal file
@ -0,0 +1,19 @@
|
|||||||
|
|
||||||
|
#ifndef _crc_H
|
||||||
|
#define _crc_H
|
||||||
|
|
||||||
|
#include "stm32f10x.h"
|
||||||
|
|
||||||
|
// ********************************************************************
|
||||||
|
|
||||||
|
uint16_t UpdateCRC16(uint16_t crc, uint8_t b);
|
||||||
|
uint16_t UpdateCRC16Data(uint16_t crc, void *data, uint32_t len);
|
||||||
|
|
||||||
|
uint32_t UpdateCRC32(uint32_t crc, uint8_t b);
|
||||||
|
uint32_t UpdateCRC32Data(uint32_t crc, void *data, uint32_t len);
|
||||||
|
|
||||||
|
void CRC_init(void);
|
||||||
|
|
||||||
|
// ********************************************************************
|
||||||
|
|
||||||
|
#endif
|
||||||
@ -1,9 +1,9 @@
|
|||||||
/**
|
/**
|
||||||
******************************************************************************
|
******************************************************************************
|
||||||
*
|
*
|
||||||
* @file pipbee.h
|
* @file gpio_in.h
|
||||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||||
* @brief Main PipBee header.
|
* @brief GPIO functions header.
|
||||||
* @see The GNU Public License (GPL) Version 3
|
* @see The GNU Public License (GPL) Version 3
|
||||||
*
|
*
|
||||||
*****************************************************************************/
|
*****************************************************************************/
|
||||||
@ -23,12 +23,19 @@
|
|||||||
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||||
*/
|
*/
|
||||||
|
|
||||||
|
#ifndef __GPIO_IN_H__
|
||||||
|
#define __GPIO_IN_H__
|
||||||
|
|
||||||
#ifndef PIPBEE_H
|
// *****************************************************************
|
||||||
#define PIPBEE_H
|
|
||||||
|
|
||||||
|
void GPIO_IN_Init(void);
|
||||||
|
bool GPIO_IN(uint8_t num);
|
||||||
|
|
||||||
/* PIOS Includes */
|
// *****************************************************************
|
||||||
#include <pios.h>
|
|
||||||
|
|
||||||
#endif /* PIPBEE_H */
|
#endif
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @}
|
||||||
|
* @}
|
||||||
|
*/
|
||||||
@ -23,21 +23,19 @@
|
|||||||
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||||
*/
|
*/
|
||||||
|
|
||||||
|
|
||||||
#ifndef PIOS_BOARD_H
|
#ifndef PIOS_BOARD_H
|
||||||
#define PIOS_BOARD_H
|
#define PIOS_BOARD_H
|
||||||
|
|
||||||
|
// *****************************************************************
|
||||||
//------------------------
|
|
||||||
// Timers and Channels Used
|
// Timers and Channels Used
|
||||||
//------------------------
|
|
||||||
/*
|
/*
|
||||||
Timer | Channel 1 | Channel 2 | Channel 3 | Channel 4
|
Timer | Channel 1 | Channel 2 | Channel 3 | Channel 4
|
||||||
------+-----------+-----------+-----------+----------
|
------+-----------+-----------+-----------+----------
|
||||||
TIM1 | | | |
|
TIM1 | | | |
|
||||||
TIM2 | --------------- PIOS_DELAY -----------------
|
TIM2 | --------------- DELAY ----------------------
|
||||||
TIM3 | | | |
|
TIM3 | --------------- Timer Interrupt ------------
|
||||||
TIM4 | | | |
|
TIM4 | --------------- STOPWATCH ------------------
|
||||||
TIM5 | | | |
|
TIM5 | | | |
|
||||||
TIM6 | | | |
|
TIM6 | | | |
|
||||||
TIM7 | | | |
|
TIM7 | | | |
|
||||||
@ -61,9 +59,29 @@ TIM8 | | | |
|
|||||||
/* Channel 11 - */
|
/* Channel 11 - */
|
||||||
/* Channel 12 - */
|
/* Channel 12 - */
|
||||||
|
|
||||||
//------------------------
|
// *****************************************************************
|
||||||
|
// System Settings
|
||||||
|
|
||||||
|
#define PIOS_MASTER_CLOCK 72000000ul
|
||||||
|
#define PIOS_PERIPHERAL_CLOCK (PIOS_MASTER_CLOCK / 2)
|
||||||
|
|
||||||
|
#if defined(USE_BOOTLOADER)
|
||||||
|
#define PIOS_NVIC_VECTTAB_FLASH ((uint32_t)0x08006000)
|
||||||
|
#else
|
||||||
|
#define PIOS_NVIC_VECTTAB_FLASH ((uint32_t)0x08000000)
|
||||||
|
#endif
|
||||||
|
|
||||||
|
// *****************************************************************
|
||||||
|
// 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_HIGHEST 4 // for USART etc...
|
||||||
|
|
||||||
|
// *****************************************************************
|
||||||
// PIOS_LED
|
// PIOS_LED
|
||||||
//------------------------
|
|
||||||
#define PIOS_LED_LED1_GPIO_PORT GPIOA // USB Activity LED
|
#define PIOS_LED_LED1_GPIO_PORT GPIOA // USB Activity LED
|
||||||
#define PIOS_LED_LED1_GPIO_PIN GPIO_Pin_3
|
#define PIOS_LED_LED1_GPIO_PIN GPIO_Pin_3
|
||||||
#define PIOS_LED_LED1_GPIO_CLK RCC_APB2Periph_GPIOA
|
#define PIOS_LED_LED1_GPIO_CLK RCC_APB2Periph_GPIOA
|
||||||
@ -88,129 +106,79 @@ TIM8 | | | |
|
|||||||
#define USB_LED_ON PIOS_LED_On(LED1)
|
#define USB_LED_ON PIOS_LED_On(LED1)
|
||||||
#define USB_LED_OFF PIOS_LED_Off(LED1)
|
#define USB_LED_OFF PIOS_LED_Off(LED1)
|
||||||
#define USB_LED_TOGGLE PIOS_LED_Toggle(LED1)
|
#define USB_LED_TOGGLE PIOS_LED_Toggle(LED1)
|
||||||
|
|
||||||
#define LINK_LED_ON PIOS_LED_On(LED2)
|
#define LINK_LED_ON PIOS_LED_On(LED2)
|
||||||
#define LINK_LED_OFF PIOS_LED_Off(LED2)
|
#define LINK_LED_OFF PIOS_LED_Off(LED2)
|
||||||
#define LINK_LED_TOGGLE PIOS_LED_Toggle(LED2)
|
#define LINK_LED_TOGGLE PIOS_LED_Toggle(LED2)
|
||||||
|
|
||||||
#define RX_LED_ON PIOS_LED_On(LED3)
|
#define RX_LED_ON PIOS_LED_On(LED3)
|
||||||
#define RX_LED_OFF PIOS_LED_Off(LED3)
|
#define RX_LED_OFF PIOS_LED_Off(LED3)
|
||||||
#define RX_LED_TOGGLE PIOS_LED_Toggle(LED3)
|
#define RX_LED_TOGGLE PIOS_LED_Toggle(LED3)
|
||||||
|
|
||||||
#define TX_LED_ON PIOS_LED_On(LED4)
|
#define TX_LED_ON PIOS_LED_On(LED4)
|
||||||
#define TX_LED_OFF PIOS_LED_Off(LED4)
|
#define TX_LED_OFF PIOS_LED_Off(LED4)
|
||||||
#define TX_LED_TOGGLE PIOS_LED_Toggle(LED4)
|
#define TX_LED_TOGGLE PIOS_LED_Toggle(LED4)
|
||||||
|
|
||||||
//-------------------------
|
// *****************************************************************
|
||||||
// Delay Timer
|
// Delay Timer
|
||||||
//-------------------------
|
|
||||||
#define PIOS_DELAY_TIMER TIM2
|
#define PIOS_DELAY_TIMER TIM2
|
||||||
#define PIOS_DELAY_TIMER_RCC_FUNC RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE)
|
#define PIOS_DELAY_TIMER_RCC_FUNC RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE)
|
||||||
|
|
||||||
//-------------------------
|
// *****************************************************************
|
||||||
// System Settings
|
// Timer interrupt
|
||||||
//-------------------------
|
|
||||||
#define PIOS_MASTER_CLOCK 72000000
|
|
||||||
#define PIOS_PERIPHERAL_CLOCK (PIOS_MASTER_CLOCK / 2)
|
|
||||||
#if defined(USE_BOOTLOADER)
|
|
||||||
#define PIOS_NVIC_VECTTAB_FLASH ((uint32_t)0x08006000)
|
|
||||||
#else
|
|
||||||
#define PIOS_NVIC_VECTTAB_FLASH ((uint32_t)0x08000000)
|
|
||||||
#endif
|
|
||||||
|
|
||||||
//-------------------------
|
#define TIMER_INT_TIMER TIM3
|
||||||
// Interrupt Priorities
|
#define TIMER_INT_FUNC TIM3_IRQHandler
|
||||||
//-------------------------
|
#define TIMER_INT_PRIORITY 0
|
||||||
#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...
|
|
||||||
|
|
||||||
//-------------------------
|
// *****************************************************************
|
||||||
|
// Stop watch timer
|
||||||
|
|
||||||
|
#define STOPWATCH_TIMER TIM4
|
||||||
|
|
||||||
|
// *****************************************************************
|
||||||
// SPI
|
// SPI
|
||||||
//
|
//
|
||||||
// See also pios_board.c
|
// See also pios_board.c
|
||||||
//-------------------------
|
|
||||||
#define PIOS_SPI_PERIF 0
|
|
||||||
|
|
||||||
//-------------------------
|
#define PIOS_SPI_PORT 0
|
||||||
|
|
||||||
|
// *****************************************************************
|
||||||
// PIOS_USART
|
// PIOS_USART
|
||||||
//-------------------------
|
|
||||||
|
|
||||||
#define PIOS_USART_RX_BUFFER_SIZE 512
|
#define PIOS_USART_RX_BUFFER_SIZE 512
|
||||||
#define PIOS_USART_TX_BUFFER_SIZE 256
|
#define PIOS_USART_TX_BUFFER_SIZE 256
|
||||||
|
|
||||||
|
//#define PIOS_USART_BAUDRATE 57600
|
||||||
|
#define PIOS_USART_BAUDRATE 115200
|
||||||
|
|
||||||
#define PIOS_COM_SERIAL 0
|
#define PIOS_COM_SERIAL 0
|
||||||
|
|
||||||
#define PIOS_COM_DEBUG PIOS_COM_SERIAL
|
#define PIOS_COM_DEBUG PIOS_COM_SERIAL // comment this out if you don't want debug text sent out on the serial port
|
||||||
|
|
||||||
//-------------------------
|
#if defined(PIOS_INCLUDE_USB_HID)
|
||||||
|
#define PIOS_COM_TELEM_USB 1
|
||||||
#if 0
|
|
||||||
//-------------------------
|
|
||||||
// ADC
|
|
||||||
// PIOS_ADC_PinGet(0) = Accel Z
|
|
||||||
// PIOS_ADC_PinGet(1) =
|
|
||||||
// PIOS_ADC_PinGet(2) =
|
|
||||||
// PIOS_ADC_PinGet(3) =
|
|
||||||
// PIOS_ADC_PinGet(4) = Accel ?
|
|
||||||
// PIOS_ADC_PinGet(5) =
|
|
||||||
// PIOS_ADC_PinGet(6) =
|
|
||||||
// PIOS_ADC_PinGet(7) =
|
|
||||||
//-------------------------
|
|
||||||
//#define PIOS_ADC_OVERSAMPLING_RATE 1
|
|
||||||
#define PIOS_ADC_USE_TEMP_SENSOR 0
|
|
||||||
#define PIOS_ADC_TEMP_SENSOR_ADC ADC1
|
|
||||||
#define PIOS_ADC_TEMP_SENSOR_ADC_CHANNEL 1
|
|
||||||
|
|
||||||
#define PIOS_ADC_PIN1_GPIO_PORT GPIOB // PB1 (PSU Voltage)
|
|
||||||
#define PIOS_ADC_PIN1_GPIO_PIN GPIO_Pin_1 // ADC12_IN9
|
|
||||||
#define PIOS_ADC_PIN1_GPIO_CHANNEL ADC_Channel_9
|
|
||||||
#define PIOS_ADC_PIN1_ADC ADC2
|
|
||||||
#define PIOS_ADC_PIN1_ADC_NUMBER 4
|
|
||||||
|
|
||||||
#define PIOS_ADC_NUM_PINS 1
|
|
||||||
|
|
||||||
#define PIOS_ADC_PORTS { PIOS_ADC_PIN1_GPIO_PORT }
|
|
||||||
#define PIOS_ADC_PINS { PIOS_ADC_PIN1_GPIO_PIN }
|
|
||||||
#define PIOS_ADC_CHANNELS { PIOS_ADC_PIN1_GPIO_CHANNEL }
|
|
||||||
#define PIOS_ADC_MAPPING { PIOS_ADC_PIN1_ADC }
|
|
||||||
#define PIOS_ADC_CHANNEL_MAPPING { PIOS_ADC_PIN1_ADC_NUMBER }
|
|
||||||
#define PIOS_ADC_NUM_CHANNELS (PIOS_ADC_NUM_PINS + PIOS_ADC_USE_TEMP_SENSOR)
|
|
||||||
#define PIOS_ADC_NUM_ADC_CHANNELS 2
|
|
||||||
#define PIOS_ADC_USE_ADC2 1
|
|
||||||
#define PIOS_ADC_CLOCK_FUNCTION RCC_APB2PeriphClockCmd(RCC_APB2Periph_ADC1 | RCC_APB2Periph_ADC2, ENABLE)
|
|
||||||
#define PIOS_ADC_ADCCLK RCC_PCLK2_Div8
|
|
||||||
/* RCC_PCLK2_Div2: ADC clock = PCLK2/2 */
|
|
||||||
/* RCC_PCLK2_Div4: ADC clock = PCLK2/4 */
|
|
||||||
/* RCC_PCLK2_Div6: ADC clock = PCLK2/6 */
|
|
||||||
/* RCC_PCLK2_Div8: ADC clock = PCLK2/8 */
|
|
||||||
#define PIOS_ADC_SAMPLE_TIME ADC_SampleTime_239Cycles5
|
|
||||||
/* Sample time: */
|
|
||||||
/* With an ADCCLK = 14 MHz and a sampling time of 293.5 cycles: */
|
|
||||||
/* Tconv = 239.5 + 12.5 = 252 cycles = 18<31>s */
|
|
||||||
/* (1 / (ADCCLK / CYCLES)) = Sample Time (<28>S) */
|
|
||||||
#define PIOS_ADC_IRQ_PRIO PIOS_IRQ_PRIO_HIGH
|
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
//-------------------------
|
// *****************************************************************
|
||||||
// ADC
|
// ADC
|
||||||
// PIOS_ADC_PinGet(0) = Accel Z
|
|
||||||
// PIOS_ADC_PinGet(1) =
|
|
||||||
// PIOS_ADC_PinGet(2) =
|
|
||||||
// PIOS_ADC_PinGet(3) =
|
|
||||||
// PIOS_ADC_PinGet(4) = Accel ?
|
|
||||||
// PIOS_ADC_PinGet(5) =
|
|
||||||
// PIOS_ADC_PinGet(6) =
|
|
||||||
// PIOS_ADC_PinGet(7) =
|
|
||||||
//-------------------------
|
|
||||||
//#define PIOS_ADC_OVERSAMPLING_RATE 1
|
|
||||||
#define PIOS_ADC_USE_TEMP_SENSOR 0
|
|
||||||
#define PIOS_ADC_TEMP_SENSOR_ADC ADC1
|
|
||||||
#define PIOS_ADC_TEMP_SENSOR_ADC_CHANNEL 1
|
|
||||||
|
|
||||||
#define PIOS_ADC_PIN1_GPIO_PORT GPIOB // PB1 (PSU Voltage)
|
// PIOS_ADC_PinGet(0) = Temperature Sensor (On-board)
|
||||||
#define PIOS_ADC_PIN1_GPIO_PIN GPIO_Pin_1 // ADC12_IN9
|
// PIOS_ADC_PinGet(1) = PSU Voltage
|
||||||
|
|
||||||
|
#define PIOS_ADC_OVERSAMPLING_RATE 2
|
||||||
|
|
||||||
|
#define PIOS_ADC_USE_TEMP_SENSOR 1
|
||||||
|
#define PIOS_ADC_TEMP_SENSOR_ADC ADC1
|
||||||
|
#define PIOS_ADC_TEMP_SENSOR_ADC_CHANNEL 16 // Temperature sensor channel
|
||||||
|
//#define PIOS_ADC_TEMP_SENSOR_ADC_CHANNEL 17 // VREF channel
|
||||||
|
|
||||||
|
#define PIOS_ADC_PIN1_GPIO_PORT GPIOB // Port B (PSU Voltage)
|
||||||
|
#define PIOS_ADC_PIN1_GPIO_PIN GPIO_Pin_1 // PB1 .. ADC12_IN9
|
||||||
#define PIOS_ADC_PIN1_GPIO_CHANNEL ADC_Channel_9
|
#define PIOS_ADC_PIN1_GPIO_CHANNEL ADC_Channel_9
|
||||||
#define PIOS_ADC_PIN1_ADC ADC2
|
#define PIOS_ADC_PIN1_ADC ADC2
|
||||||
#define PIOS_ADC_PIN1_ADC_NUMBER 4
|
#define PIOS_ADC_PIN1_ADC_NUMBER 1
|
||||||
|
|
||||||
#define PIOS_ADC_NUM_PINS 1
|
#define PIOS_ADC_NUM_PINS 1
|
||||||
|
|
||||||
@ -219,15 +187,22 @@ TIM8 | | | |
|
|||||||
#define PIOS_ADC_CHANNELS { PIOS_ADC_PIN1_GPIO_CHANNEL }
|
#define PIOS_ADC_CHANNELS { PIOS_ADC_PIN1_GPIO_CHANNEL }
|
||||||
#define PIOS_ADC_MAPPING { PIOS_ADC_PIN1_ADC }
|
#define PIOS_ADC_MAPPING { PIOS_ADC_PIN1_ADC }
|
||||||
#define PIOS_ADC_CHANNEL_MAPPING { PIOS_ADC_PIN1_ADC_NUMBER }
|
#define PIOS_ADC_CHANNEL_MAPPING { PIOS_ADC_PIN1_ADC_NUMBER }
|
||||||
|
|
||||||
#define PIOS_ADC_NUM_CHANNELS (PIOS_ADC_NUM_PINS + PIOS_ADC_USE_TEMP_SENSOR)
|
#define PIOS_ADC_NUM_CHANNELS (PIOS_ADC_NUM_PINS + PIOS_ADC_USE_TEMP_SENSOR)
|
||||||
#define PIOS_ADC_NUM_ADC_CHANNELS 2
|
#define PIOS_ADC_NUM_ADC_CHANNELS 2
|
||||||
#define PIOS_ADC_USE_ADC2 1
|
#define PIOS_ADC_USE_ADC2 1
|
||||||
#define PIOS_ADC_CLOCK_FUNCTION RCC_APB2PeriphClockCmd(RCC_APB2Periph_ADC1 | RCC_APB2Periph_ADC2, ENABLE)
|
#define PIOS_ADC_CLOCK_FUNCTION RCC_APB2PeriphClockCmd(RCC_APB2Periph_ADC1 | RCC_APB2Periph_ADC2, ENABLE)
|
||||||
#define PIOS_ADC_ADCCLK RCC_PCLK2_Div8
|
//#define PIOS_ADC_ADCCLK RCC_PCLK2_Div2 // ADC clock = PCLK2/2
|
||||||
/* RCC_PCLK2_Div2: ADC clock = PCLK2/2 */
|
//#define PIOS_ADC_ADCCLK RCC_PCLK2_Div4 // ADC clock = PCLK2/4
|
||||||
/* RCC_PCLK2_Div4: ADC clock = PCLK2/4 */
|
//#define PIOS_ADC_ADCCLK RCC_PCLK2_Div6 // ADC clock = PCLK2/6
|
||||||
/* RCC_PCLK2_Div6: ADC clock = PCLK2/6 */
|
#define PIOS_ADC_ADCCLK RCC_PCLK2_Div8 // ADC clock = PCLK2/8
|
||||||
/* RCC_PCLK2_Div8: ADC clock = PCLK2/8 */
|
//#define PIOS_ADC_SAMPLE_TIME ADC_SampleTime_1Cycles5
|
||||||
|
//#define PIOS_ADC_SAMPLE_TIME ADC_SampleTime_7Cycles5
|
||||||
|
//#define PIOS_ADC_SAMPLE_TIME ADC_SampleTime_13Cycles5
|
||||||
|
//#define PIOS_ADC_SAMPLE_TIME ADC_SampleTime_28Cycles5
|
||||||
|
//#define PIOS_ADC_SAMPLE_TIME ADC_SampleTime_41Cycles5
|
||||||
|
//#define PIOS_ADC_SAMPLE_TIME ADC_SampleTime_55Cycles5
|
||||||
|
//#define PIOS_ADC_SAMPLE_TIME ADC_SampleTime_71Cycles5
|
||||||
#define PIOS_ADC_SAMPLE_TIME ADC_SampleTime_239Cycles5
|
#define PIOS_ADC_SAMPLE_TIME ADC_SampleTime_239Cycles5
|
||||||
/* Sample time: */
|
/* Sample time: */
|
||||||
/* With an ADCCLK = 14 MHz and a sampling time of 293.5 cycles: */
|
/* With an ADCCLK = 14 MHz and a sampling time of 293.5 cycles: */
|
||||||
@ -235,21 +210,131 @@ TIM8 | | | |
|
|||||||
/* (1 / (ADCCLK / CYCLES)) = Sample Time (<28>S) */
|
/* (1 / (ADCCLK / CYCLES)) = Sample Time (<28>S) */
|
||||||
#define PIOS_ADC_IRQ_PRIO PIOS_IRQ_PRIO_HIGH
|
#define PIOS_ADC_IRQ_PRIO PIOS_IRQ_PRIO_HIGH
|
||||||
|
|
||||||
//-------------------------
|
// *****************************************************************
|
||||||
// GPIO
|
// GPIO output pins
|
||||||
//-------------------------
|
|
||||||
|
|
||||||
#define PIOS_GPIO_1_PORT GPIOB
|
// GPIO_Mode_Out_OD Open Drain Output
|
||||||
#define PIOS_GPIO_1_PIN GPIO_Pin_15
|
// GPIO_Mode_Out_PP Push-Pull Output
|
||||||
#define PIOS_GPIO_1_GPIO_CLK RCC_APB2Periph_GPIOB
|
// GPIO_Mode_AF_OD Open Drain Output Alternate-Function
|
||||||
#define PIOS_GPIO_PORTS { PIOS_GPIO_1_PORT }
|
// GPIO_Mode_AF_PP Push-Pull Output Alternate-Function
|
||||||
#define PIOS_GPIO_PINS { PIOS_GPIO_1_PIN }
|
|
||||||
#define PIOS_GPIO_CLKS { PIOS_GPIO_1_GPIO_CLK }
|
|
||||||
#define PIOS_GPIO_NUM 1
|
|
||||||
|
|
||||||
#define SET_RTS PIOS_GPIO_On(0);
|
// Serial port RTS line
|
||||||
#define CLEAR_RTS PIOS_GPIO_Off(0);
|
#define PIOS_GPIO_OUT_0_PORT GPIOB
|
||||||
|
#define PIOS_GPIO_OUT_0_PIN GPIO_Pin_15
|
||||||
|
#define PIOS_GPIO_OUT_0_GPIO_CLK RCC_APB2Periph_GPIOB
|
||||||
|
|
||||||
//-------------------------
|
// RF module chip-select line
|
||||||
|
#define PIOS_GPIO_OUT_1_PORT GPIOA
|
||||||
|
#define PIOS_GPIO_OUT_1_PIN GPIO_Pin_4
|
||||||
|
#define PIOS_GPIO_OUT_1_GPIO_CLK RCC_APB2Periph_GPIOA
|
||||||
|
|
||||||
|
// EEPROM chip-select line
|
||||||
|
#define PIOS_GPIO_OUT_2_PORT GPIOA
|
||||||
|
#define PIOS_GPIO_OUT_2_PIN GPIO_Pin_1
|
||||||
|
#define PIOS_GPIO_OUT_2_GPIO_CLK RCC_APB2Periph_GPIOA
|
||||||
|
/*
|
||||||
|
// SPI-1 SCK line
|
||||||
|
#define PIOS_GPIO_OUT_3_PORT GPIOA
|
||||||
|
#define PIOS_GPIO_OUT_3_PIN GPIO_Pin_5
|
||||||
|
#define PIOS_GPIO_OUT_3_GPIO_CLK RCC_APB2Periph_GPIOA
|
||||||
|
|
||||||
|
// SPI-1 MOSI line
|
||||||
|
#define PIOS_GPIO_OUT_4_PORT GPIOA
|
||||||
|
#define PIOS_GPIO_OUT_4_PIN GPIO_Pin_7
|
||||||
|
#define PIOS_GPIO_OUT_4_GPIO_CLK RCC_APB2Periph_GPIOA
|
||||||
|
*/
|
||||||
|
#define PIOS_GPIO_NUM 3
|
||||||
|
#define PIOS_GPIO_PORTS { PIOS_GPIO_OUT_0_PORT, PIOS_GPIO_OUT_1_PORT, PIOS_GPIO_OUT_2_PORT, }
|
||||||
|
#define PIOS_GPIO_PINS { PIOS_GPIO_OUT_0_PIN, PIOS_GPIO_OUT_1_PIN, PIOS_GPIO_OUT_2_PIN, }
|
||||||
|
#define PIOS_GPIO_CLKS { PIOS_GPIO_OUT_0_GPIO_CLK, PIOS_GPIO_OUT_1_GPIO_CLK, PIOS_GPIO_OUT_2_GPIO_CLK }
|
||||||
|
|
||||||
|
#define SERIAL_RTS_ENABLE PIOS_GPIO_Enable(0)
|
||||||
|
#define SERIAL_RTS_SET PIOS_GPIO_Off(0)
|
||||||
|
#define SERIAL_RTS_CLEAR PIOS_GPIO_On(0)
|
||||||
|
|
||||||
|
#define RF_CS_ENABLE PIOS_GPIO_Enable(1)
|
||||||
|
#define RF_CS_HIGH PIOS_GPIO_Off(1)
|
||||||
|
#define RF_CS_LOW PIOS_GPIO_On(1)
|
||||||
|
|
||||||
|
#define EE_CS_ENABLE PIOS_GPIO_Enable(2)
|
||||||
|
#define EE_CS_HIGH PIOS_GPIO_Off(2)
|
||||||
|
#define EE_CS_LOW PIOS_GPIO_On(2)
|
||||||
|
/*
|
||||||
|
#define SPI1_SCK_ENABLE PIOS_GPIO_Enable(3)
|
||||||
|
#define SPI1_SCK_HIGH PIOS_GPIO_Off(3)
|
||||||
|
#define SPI1_SCK_LOW PIOS_GPIO_On(3)
|
||||||
|
|
||||||
|
#define SPI1_MOSI_ENABLE PIOS_GPIO_Enable(4)
|
||||||
|
#define SPI1_MOSI_HIGH PIOS_GPIO_Off(4)
|
||||||
|
#define SPI1_MOSI_LOW PIOS_GPIO_On(4)
|
||||||
|
*/
|
||||||
|
// *****************************************************************
|
||||||
|
// GPIO input pins
|
||||||
|
|
||||||
|
// GPIO_Mode_AIN Analog Input
|
||||||
|
// GPIO_Mode_IN_FLOATING Input Floating
|
||||||
|
// GPIO_Mode_IPD Input Pull-Down
|
||||||
|
// GPIO_Mode_IPU Input Pull-up
|
||||||
|
|
||||||
|
// API mode line
|
||||||
|
#define GPIO_IN_0_PORT GPIOB
|
||||||
|
#define GPIO_IN_0_PIN GPIO_Pin_13
|
||||||
|
#define GPIO_IN_0_MODE GPIO_Mode_IPU
|
||||||
|
|
||||||
|
// Serial port CTS line
|
||||||
|
#define GPIO_IN_1_PORT GPIOB
|
||||||
|
#define GPIO_IN_1_PIN GPIO_Pin_14
|
||||||
|
#define GPIO_IN_1_MODE GPIO_Mode_IPU
|
||||||
|
|
||||||
|
// VBUS sense line
|
||||||
|
#define GPIO_IN_2_PORT GPIOA
|
||||||
|
#define GPIO_IN_2_PIN GPIO_Pin_8
|
||||||
|
#define GPIO_IN_2_MODE GPIO_Mode_IN_FLOATING
|
||||||
|
|
||||||
|
// 868MHz JP
|
||||||
|
#define GPIO_IN_3_PORT GPIOB
|
||||||
|
#define GPIO_IN_3_PIN GPIO_Pin_8
|
||||||
|
#define GPIO_IN_3_MODE GPIO_Mode_IPU
|
||||||
|
|
||||||
|
// 915MHz JP
|
||||||
|
#define GPIO_IN_4_PORT GPIOB
|
||||||
|
#define GPIO_IN_4_PIN GPIO_Pin_9
|
||||||
|
#define GPIO_IN_4_MODE GPIO_Mode_IPU
|
||||||
|
|
||||||
|
// RF INT line
|
||||||
|
#define GPIO_IN_5_PORT GPIOA
|
||||||
|
#define GPIO_IN_5_PIN GPIO_Pin_2
|
||||||
|
#define GPIO_IN_5_MODE GPIO_Mode_IN_FLOATING
|
||||||
|
|
||||||
|
// RF misc line
|
||||||
|
#define GPIO_IN_6_PORT GPIOB
|
||||||
|
#define GPIO_IN_6_PIN GPIO_Pin_0
|
||||||
|
#define GPIO_IN_6_MODE GPIO_Mode_IN_FLOATING
|
||||||
|
|
||||||
|
#define GPIO_IN_NUM 7
|
||||||
|
#define GPIO_IN_PORTS { GPIO_IN_0_PORT, GPIO_IN_1_PORT, GPIO_IN_2_PORT, GPIO_IN_3_PORT, GPIO_IN_4_PORT, GPIO_IN_5_PORT, GPIO_IN_6_PORT }
|
||||||
|
#define GPIO_IN_PINS { GPIO_IN_0_PIN, GPIO_IN_1_PIN, GPIO_IN_2_PIN, GPIO_IN_3_PIN, GPIO_IN_4_PIN, GPIO_IN_5_PIN, GPIO_IN_6_PIN }
|
||||||
|
#define GPIO_IN_MODES { GPIO_IN_0_MODE, GPIO_IN_1_MODE, GPIO_IN_2_MODE, GPIO_IN_3_MODE, GPIO_IN_4_MODE, GPIO_IN_5_MODE, GPIO_IN_6_MODE }
|
||||||
|
|
||||||
|
#define API_MODE_PIN 0
|
||||||
|
#define SERIAL_CTS_PIN 1
|
||||||
|
#define VBUS_SENSE_PIN 2
|
||||||
|
#define _868MHz_PIN 3
|
||||||
|
#define _915MHz_PIN 4
|
||||||
|
#define RF_INT_PIN 5
|
||||||
|
#define RF_MISC_PIN 6
|
||||||
|
|
||||||
|
// *****************************************************************
|
||||||
|
// USB
|
||||||
|
|
||||||
|
#if defined(PIOS_INCLUDE_USB_HID)
|
||||||
|
#define PIOS_USB_ENABLED 1
|
||||||
|
#define PIOS_USB_DETECT_GPIO_PORT GPIO_IN_2_PORT
|
||||||
|
#define PIOS_USB_DETECT_GPIO_PIN GPIO_IN_2_PIN
|
||||||
|
#define PIOS_USB_DETECT_EXTI_LINE EXTI_Line4
|
||||||
|
#define PIOS_IRQ_USB_PRIORITY PIOS_IRQ_PRIO_MID
|
||||||
|
#endif
|
||||||
|
|
||||||
|
// *****************************************************************
|
||||||
|
|
||||||
#endif /* PIOS_BOARD_H */
|
#endif /* PIOS_BOARD_H */
|
||||||
|
|||||||
@ -38,6 +38,7 @@
|
|||||||
#define PIOS_INCLUDE_USART
|
#define PIOS_INCLUDE_USART
|
||||||
#define PIOS_INCLUDE_COM
|
#define PIOS_INCLUDE_COM
|
||||||
#define PIOS_INCLUDE_GPIO
|
#define PIOS_INCLUDE_GPIO
|
||||||
|
#define PIOS_INCLUDE_EXTI
|
||||||
|
//#define PIOS_INCLUDE_USB_HID
|
||||||
|
|
||||||
#endif /* PIOS_CONFIG_H */
|
#endif /* PIOS_CONFIG_H */
|
||||||
|
|||||||
86
flight/PipXtreme/inc/pios_usb.h
Normal file
86
flight/PipXtreme/inc/pios_usb.h
Normal file
@ -0,0 +1,86 @@
|
|||||||
|
/**
|
||||||
|
******************************************************************************
|
||||||
|
* @addtogroup PIOS PIOS Core hardware abstraction layer
|
||||||
|
* @{
|
||||||
|
* @addtogroup PIOS_USB USB Functions
|
||||||
|
* @brief PIOS USB interface code
|
||||||
|
* @{
|
||||||
|
*
|
||||||
|
* @file pios_usb.h
|
||||||
|
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||||
|
* Parts by Thorsten Klose (tk@midibox.org)
|
||||||
|
* @brief USB functions header.
|
||||||
|
* @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
|
||||||
|
* (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
|
||||||
|
* 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.,
|
||||||
|
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||||
|
*/
|
||||||
|
|
||||||
|
#ifndef PIOS_USB_H
|
||||||
|
#define PIOS_USB_H
|
||||||
|
|
||||||
|
/* Local defines */
|
||||||
|
/* Following settings allow to customise the USB device descriptor */
|
||||||
|
#ifndef PIOS_USB_VENDOR_ID
|
||||||
|
#define PIOS_USB_VENDOR_ID 0x20A0
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#ifndef PIOS_USB_VENDOR_STR
|
||||||
|
#define PIOS_USB_VENDOR_STR "openpilot.org"
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#ifndef PIOS_USB_PRODUCT_STR
|
||||||
|
#define PIOS_USB_PRODUCT_STR "OpenPilot"
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#ifndef PIOS_USB_PRODUCT_ID
|
||||||
|
#define PIOS_USB_PRODUCT_ID 0x4117
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#ifndef PIOS_USB_VERSION_ID
|
||||||
|
#define PIOS_USB_VERSION_ID 0x0200 /* v2.00 */
|
||||||
|
#endif
|
||||||
|
|
||||||
|
/* Internal defines which are used by PIOS USB HID (don't touch) */
|
||||||
|
#define PIOS_USB_EP_NUM 2
|
||||||
|
|
||||||
|
/* Buffer table base address */
|
||||||
|
#define PIOS_USB_BTABLE_ADDRESS 0x000
|
||||||
|
|
||||||
|
/* EP0 rx/tx buffer base address */
|
||||||
|
#define PIOS_USB_ENDP0_RXADDR 0x040
|
||||||
|
#define PIOS_USB_ENDP0_TXADDR 0x080
|
||||||
|
|
||||||
|
/* EP1 Rx/Tx buffer base address for HID driver */
|
||||||
|
#define PIOS_USB_ENDP1_TXADDR 0x0C0
|
||||||
|
#define PIOS_USB_ENDP1_RXADDR 0x100
|
||||||
|
|
||||||
|
|
||||||
|
/* Global Variables */
|
||||||
|
extern void (*pEpInt_IN[7])(void);
|
||||||
|
extern void (*pEpInt_OUT[7])(void);
|
||||||
|
|
||||||
|
/* Public Functions */
|
||||||
|
extern int32_t PIOS_USB_Init(uint32_t mode);
|
||||||
|
extern int32_t PIOS_USB_IsInitialized(void);
|
||||||
|
extern int32_t PIOS_USB_CableConnected(void);
|
||||||
|
|
||||||
|
#endif /* PIOS_USB_H */
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @}
|
||||||
|
* @}
|
||||||
|
*/
|
||||||
56
flight/PipXtreme/inc/pios_usb_hid_desc.h
Normal file
56
flight/PipXtreme/inc/pios_usb_hid_desc.h
Normal file
@ -0,0 +1,56 @@
|
|||||||
|
/******************** (C) COPYRIGHT 2010 STMicroelectronics ********************
|
||||||
|
* File Name : usb_desc.h
|
||||||
|
* Author : MCD Application Team
|
||||||
|
* Version : V3.2.1
|
||||||
|
* Date : 07/05/2010
|
||||||
|
* Description : Descriptor Header for Custom HID Demo
|
||||||
|
********************************************************************************
|
||||||
|
* THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS
|
||||||
|
* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE TIME.
|
||||||
|
* AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY DIRECT,
|
||||||
|
* INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING FROM THE
|
||||||
|
* CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING
|
||||||
|
* INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS.
|
||||||
|
*******************************************************************************/
|
||||||
|
|
||||||
|
/* Define to prevent recursive inclusion -------------------------------------*/
|
||||||
|
#ifndef __USB_DESC_H
|
||||||
|
#define __USB_DESC_H
|
||||||
|
|
||||||
|
/* Includes ------------------------------------------------------------------*/
|
||||||
|
/* Exported types ------------------------------------------------------------*/
|
||||||
|
/* Exported constants --------------------------------------------------------*/
|
||||||
|
/* Exported macro ------------------------------------------------------------*/
|
||||||
|
/* Exported define -----------------------------------------------------------*/
|
||||||
|
#define USB_DEVICE_DESCRIPTOR_TYPE 0x01
|
||||||
|
#define USB_CONFIGURATION_DESCRIPTOR_TYPE 0x02
|
||||||
|
#define USB_STRING_DESCRIPTOR_TYPE 0x03
|
||||||
|
#define USB_INTERFACE_DESCRIPTOR_TYPE 0x04
|
||||||
|
#define USB_ENDPOINT_DESCRIPTOR_TYPE 0x05
|
||||||
|
|
||||||
|
#define HID_DESCRIPTOR_TYPE 0x21
|
||||||
|
#define PIOS_HID_SIZ_HID_DESC 0x09
|
||||||
|
#define PIOS_HID_OFF_HID_DESC 0x12
|
||||||
|
|
||||||
|
#define PIOS_HID_SIZ_DEVICE_DESC 18
|
||||||
|
#define PIOS_HID_SIZ_CONFIG_DESC 41
|
||||||
|
#define PIOS_HID_SIZ_REPORT_DESC 36
|
||||||
|
#define PIOS_HID_SIZ_STRING_LANGID 4
|
||||||
|
#define PIOS_HID_SIZ_STRING_VENDOR 28
|
||||||
|
#define PIOS_HID_SIZ_STRING_PRODUCT 20
|
||||||
|
#define PIOS_HID_SIZ_STRING_SERIAL 52 /* 96 bits, 12 bytes, 24 characters, 48 in unicode */
|
||||||
|
|
||||||
|
#define STANDARD_ENDPOINT_DESC_SIZE 0x09
|
||||||
|
|
||||||
|
/* Exported functions ------------------------------------------------------- */
|
||||||
|
extern const uint8_t PIOS_HID_DeviceDescriptor[PIOS_HID_SIZ_DEVICE_DESC];
|
||||||
|
extern const uint8_t PIOS_HID_ConfigDescriptor[PIOS_HID_SIZ_CONFIG_DESC];
|
||||||
|
extern const uint8_t PIOS_HID_ReportDescriptor[PIOS_HID_SIZ_REPORT_DESC];
|
||||||
|
extern const uint8_t PIOS_HID_StringLangID[PIOS_HID_SIZ_STRING_LANGID];
|
||||||
|
extern const uint8_t PIOS_HID_StringVendor[PIOS_HID_SIZ_STRING_VENDOR];
|
||||||
|
extern const uint8_t PIOS_HID_StringProduct[PIOS_HID_SIZ_STRING_PRODUCT];
|
||||||
|
extern uint8_t PIOS_HID_StringSerial[PIOS_HID_SIZ_STRING_SERIAL];
|
||||||
|
|
||||||
|
#endif /* __USB_DESC_H */
|
||||||
|
|
||||||
|
/******************* (C) COPYRIGHT 2010 STMicroelectronics *****END OF FILE****/
|
||||||
40
flight/PipXtreme/inc/stopwatch.h
Normal file
40
flight/PipXtreme/inc/stopwatch.h
Normal file
@ -0,0 +1,40 @@
|
|||||||
|
/**
|
||||||
|
******************************************************************************
|
||||||
|
*
|
||||||
|
* @file stopwatch.c
|
||||||
|
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||||
|
* @brief Stop watch function
|
||||||
|
* @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
|
||||||
|
* (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
|
||||||
|
* 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.,
|
||||||
|
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||||
|
*/
|
||||||
|
|
||||||
|
#ifndef __STOPWATCH_H__
|
||||||
|
#define __STOPWATCH_H__
|
||||||
|
|
||||||
|
#include "stm32f10x.h"
|
||||||
|
|
||||||
|
// *****************************************************************************
|
||||||
|
|
||||||
|
void STOPWATCH_init(uint32_t resolution);
|
||||||
|
void STOPWATCH_reset(void);
|
||||||
|
uint32_t STOPWATCH_get_count(void);
|
||||||
|
uint32_t STOPWATCH_get_us(void);
|
||||||
|
|
||||||
|
// *****************************************************************************
|
||||||
|
|
||||||
|
#endif
|
||||||
186
flight/PipXtreme/inc/usb_conf.h
Normal file
186
flight/PipXtreme/inc/usb_conf.h
Normal file
@ -0,0 +1,186 @@
|
|||||||
|
/******************** (C) COPYRIGHT 2010 STMicroelectronics ********************
|
||||||
|
* File Name : usb_conf.h
|
||||||
|
* Author : MCD Application Team
|
||||||
|
* Version : V3.2.1
|
||||||
|
* Date : 07/05/2010
|
||||||
|
* Description : Custom HID demo configuration file
|
||||||
|
********************************************************************************
|
||||||
|
* THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS
|
||||||
|
* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE TIME.
|
||||||
|
* AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY DIRECT,
|
||||||
|
* INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING FROM THE
|
||||||
|
* CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING
|
||||||
|
* INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS.
|
||||||
|
*******************************************************************************/
|
||||||
|
|
||||||
|
/* Define to prevent recursive inclusion -------------------------------------*/
|
||||||
|
#ifndef __USB_CONF_H
|
||||||
|
#define __USB_CONF_H
|
||||||
|
|
||||||
|
/* Includes ------------------------------------------------------------------*/
|
||||||
|
/* Exported types ------------------------------------------------------------*/
|
||||||
|
/* Exported constants --------------------------------------------------------*/
|
||||||
|
/* Exported macro ------------------------------------------------------------*/
|
||||||
|
/* Exported functions ------------------------------------------------------- */
|
||||||
|
/* External variables --------------------------------------------------------*/
|
||||||
|
/*-------------------------------------------------------------*/
|
||||||
|
/* EP_NUM */
|
||||||
|
/* defines how many endpoints are used by the device */
|
||||||
|
/*-------------------------------------------------------------*/
|
||||||
|
#define EP_NUM (2)
|
||||||
|
|
||||||
|
#ifndef STM32F10X_CL
|
||||||
|
/*-------------------------------------------------------------*/
|
||||||
|
/* -------------- Buffer Description Table -----------------*/
|
||||||
|
/*-------------------------------------------------------------*/
|
||||||
|
/* buffer table base address */
|
||||||
|
/* buffer table base address */
|
||||||
|
#define BTABLE_ADDRESS (0x00)
|
||||||
|
|
||||||
|
/* EP0 */
|
||||||
|
/* rx/tx buffer base address */
|
||||||
|
#define ENDP0_RXADDR (0x18)
|
||||||
|
#define ENDP0_TXADDR (0x58)
|
||||||
|
|
||||||
|
/* EP1 */
|
||||||
|
/* tx buffer base address */
|
||||||
|
#define ENDP1_TXADDR (0x100)
|
||||||
|
#define ENDP1_RXADDR (0x124)
|
||||||
|
|
||||||
|
/*-------------------------------------------------------------*/
|
||||||
|
/* ------------------- ISTR events -------------------------*/
|
||||||
|
/*-------------------------------------------------------------*/
|
||||||
|
/* IMR_MSK */
|
||||||
|
/* mask defining which events has to be handled */
|
||||||
|
/* by the device application software */
|
||||||
|
#define IMR_MSK (CNTR_CTRM | CNTR_WKUPM | CNTR_SUSPM | CNTR_ERRM | CNTR_SOFM \
|
||||||
|
| CNTR_ESOFM | CNTR_RESETM )
|
||||||
|
#endif /* STM32F10X_CL */
|
||||||
|
|
||||||
|
#ifdef STM32F10X_CL
|
||||||
|
|
||||||
|
/*******************************************************************************
|
||||||
|
* FIFO Size Configuration
|
||||||
|
*
|
||||||
|
* (i) Dedicated data FIFO SPRAM of 1.25 Kbytes = 1280 bytes = 320 32-bits words
|
||||||
|
* available for the endpoints IN and OUT.
|
||||||
|
* Device mode features:
|
||||||
|
* -1 bidirectional CTRL EP 0
|
||||||
|
* -3 IN EPs to support any kind of Bulk, Interrupt or Isochronous transfer
|
||||||
|
* -3 OUT EPs to support any kind of Bulk, Interrupt or Isochronous transfer
|
||||||
|
*
|
||||||
|
* ii) Receive data FIFO size = RAM for setup packets +
|
||||||
|
* OUT endpoint control information +
|
||||||
|
* data OUT packets + miscellaneous
|
||||||
|
* Space = ONE 32-bits words
|
||||||
|
* --> RAM for setup packets = 4 * n + 6 space
|
||||||
|
* (n is the nbr of CTRL EPs the device core supports)
|
||||||
|
* --> OUT EP CTRL info = 1 space
|
||||||
|
* (one space for status information written to the FIFO along with each
|
||||||
|
* received packet)
|
||||||
|
* --> data OUT packets = (Largest Packet Size / 4) + 1 spaces
|
||||||
|
* (MINIMUM to receive packets)
|
||||||
|
* --> OR data OUT packets = at least 2*(Largest Packet Size / 4) + 1 spaces
|
||||||
|
* (if high-bandwidth EP is enabled or multiple isochronous EPs)
|
||||||
|
* --> miscellaneous = 1 space per OUT EP
|
||||||
|
* (one space for transfer complete status information also pushed to the
|
||||||
|
* FIFO with each endpoint's last packet)
|
||||||
|
*
|
||||||
|
* (iii)MINIMUM RAM space required for each IN EP Tx FIFO = MAX packet size for
|
||||||
|
* that particular IN EP. More space allocated in the IN EP Tx FIFO results
|
||||||
|
* in a better performance on the USB and can hide latencies on the AHB.
|
||||||
|
*
|
||||||
|
* (iv) TXn min size = 16 words. (n : Transmit FIFO index)
|
||||||
|
* (v) When a TxFIFO is not used, the Configuration should be as follows:
|
||||||
|
* case 1 : n > m and Txn is not used (n,m : Transmit FIFO indexes)
|
||||||
|
* --> Txm can use the space allocated for Txn.
|
||||||
|
* case2 : n < m and Txn is not used (n,m : Transmit FIFO indexes)
|
||||||
|
* --> Txn should be configured with the minimum space of 16 words
|
||||||
|
* (vi) The FIFO is used optimally when used TxFIFOs are allocated in the top
|
||||||
|
* of the FIFO.Ex: use EP1 and EP2 as IN instead of EP1 and EP3 as IN ones.
|
||||||
|
*******************************************************************************/
|
||||||
|
|
||||||
|
#define RX_FIFO_SIZE 128
|
||||||
|
#define TX0_FIFO_SIZE 64
|
||||||
|
#define TX1_FIFO_SIZE 64
|
||||||
|
#define TX2_FIFO_SIZE 16
|
||||||
|
#define TX3_FIFO_SIZE 16
|
||||||
|
|
||||||
|
/* OTGD-FS-DEVICE IP interrupts Enable definitions */
|
||||||
|
/* Uncomment the define to enable the selected interrupt */
|
||||||
|
//#define INTR_MODEMISMATCH
|
||||||
|
#define INTR_SOFINTR
|
||||||
|
#define INTR_RXSTSQLVL /* Mandatory */
|
||||||
|
//#define INTR_NPTXFEMPTY
|
||||||
|
//#define INTR_GINNAKEFF
|
||||||
|
//#define INTR_GOUTNAKEFF
|
||||||
|
//#define INTR_ERLYSUSPEND
|
||||||
|
#define INTR_USBSUSPEND /* Mandatory */
|
||||||
|
#define INTR_USBRESET /* Mandatory */
|
||||||
|
#define INTR_ENUMDONE /* Mandatory */
|
||||||
|
//#define INTR_ISOOUTDROP
|
||||||
|
//#define INTR_EOPFRAME
|
||||||
|
//#define INTR_EPMISMATCH
|
||||||
|
#define INTR_INEPINTR /* Mandatory */
|
||||||
|
#define INTR_OUTEPINTR /* Mandatory */
|
||||||
|
//#define INTR_INCOMPLISOIN
|
||||||
|
//#define INTR_INCOMPLISOOUT
|
||||||
|
#define INTR_WKUPINTR /* Mandatory */
|
||||||
|
|
||||||
|
/* OTGD-FS-DEVICE IP interrupts subroutines */
|
||||||
|
/* Comment the define to enable the selected interrupt subroutine and replace it
|
||||||
|
by user code */
|
||||||
|
#define INTR_MODEMISMATCH_Callback NOP_Process
|
||||||
|
#define INTR_SOFINTR_Callback NOP_Process
|
||||||
|
#define INTR_RXSTSQLVL_Callback NOP_Process
|
||||||
|
#define INTR_NPTXFEMPTY_Callback NOP_Process
|
||||||
|
#define INTR_NPTXFEMPTY_Callback NOP_Process
|
||||||
|
#define INTR_GINNAKEFF_Callback NOP_Process
|
||||||
|
#define INTR_GOUTNAKEFF_Callback NOP_Process
|
||||||
|
#define INTR_ERLYSUSPEND_Callback NOP_Process
|
||||||
|
#define INTR_USBSUSPEND_Callback NOP_Process
|
||||||
|
#define INTR_USBRESET_Callback NOP_Process
|
||||||
|
#define INTR_ENUMDONE_Callback NOP_Process
|
||||||
|
#define INTR_ISOOUTDROP_Callback NOP_Process
|
||||||
|
#define INTR_EOPFRAME_Callback NOP_Process
|
||||||
|
#define INTR_EPMISMATCH_Callback NOP_Process
|
||||||
|
#define INTR_INEPINTR_Callback NOP_Process
|
||||||
|
#define INTR_OUTEPINTR_Callback NOP_Process
|
||||||
|
#define INTR_INCOMPLISOIN_Callback NOP_Process
|
||||||
|
#define INTR_INCOMPLISOOUT_Callback NOP_Process
|
||||||
|
#define INTR_WKUPINTR_Callback NOP_Process
|
||||||
|
|
||||||
|
/* Isochronous data update */
|
||||||
|
#define INTR_RXSTSQLVL_ISODU_Callback NOP_Process
|
||||||
|
|
||||||
|
/* Isochronous transfer parameters */
|
||||||
|
/* Size of a single Isochronous buffer (size of a single transfer) */
|
||||||
|
#define ISOC_BUFFER_SZE 1
|
||||||
|
/* Number of sub-buffers (number of single buffers/transfers), should be even */
|
||||||
|
#define NUM_SUB_BUFFERS 2
|
||||||
|
|
||||||
|
#endif /* STM32F10X_CL */
|
||||||
|
|
||||||
|
|
||||||
|
/* CTR service routines */
|
||||||
|
/* associated to defined endpoints */
|
||||||
|
#define EP1_IN_Callback NOP_Process
|
||||||
|
#define EP2_IN_Callback NOP_Process
|
||||||
|
#define EP3_IN_Callback NOP_Process
|
||||||
|
#define EP4_IN_Callback NOP_Process
|
||||||
|
#define EP5_IN_Callback NOP_Process
|
||||||
|
#define EP6_IN_Callback NOP_Process
|
||||||
|
#define EP7_IN_Callback NOP_Process
|
||||||
|
|
||||||
|
//#define EP1_OUT_Callback NOP_Process
|
||||||
|
#define EP2_OUT_Callback NOP_Process
|
||||||
|
#define EP3_OUT_Callback NOP_Process
|
||||||
|
#define EP4_OUT_Callback NOP_Process
|
||||||
|
#define EP5_OUT_Callback NOP_Process
|
||||||
|
#define EP6_OUT_Callback NOP_Process
|
||||||
|
#define EP7_OUT_Callback NOP_Process
|
||||||
|
|
||||||
|
#endif /*__USB_CONF_H*/
|
||||||
|
|
||||||
|
/******************* (C) COPYRIGHT 2010 STMicroelectronics *****END OF FILE****/
|
||||||
|
|
||||||
220
flight/PipXtreme/pios_usb_hid_desc.c
Normal file
220
flight/PipXtreme/pios_usb_hid_desc.c
Normal file
@ -0,0 +1,220 @@
|
|||||||
|
/******************** (C) COPYRIGHT 2010 STMicroelectronics ********************
|
||||||
|
* File Name : usb_desc.c
|
||||||
|
* Author : MCD Application Team
|
||||||
|
* Version : V3.2.1
|
||||||
|
* Date : 07/05/2010
|
||||||
|
* Description : Descriptors for Custom HID Demo
|
||||||
|
********************************************************************************
|
||||||
|
* THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS
|
||||||
|
* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE TIME.
|
||||||
|
* AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY DIRECT,
|
||||||
|
* INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING FROM THE
|
||||||
|
* CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING
|
||||||
|
* INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS.
|
||||||
|
*******************************************************************************/
|
||||||
|
|
||||||
|
#include "usb_lib.h"
|
||||||
|
#include "pios_usb.h"
|
||||||
|
#include "pios_usb_hid.h"
|
||||||
|
#include "pios_usb_hid_desc.h"
|
||||||
|
|
||||||
|
// *************************************************
|
||||||
|
// USB Standard Device Descriptor
|
||||||
|
|
||||||
|
const uint8_t PIOS_HID_DeviceDescriptor[PIOS_HID_SIZ_DEVICE_DESC] =
|
||||||
|
{
|
||||||
|
0x12, // bLength
|
||||||
|
USB_DEVICE_DESCRIPTOR_TYPE, // bDescriptorType
|
||||||
|
0x00, // bcdUSB
|
||||||
|
0x02,
|
||||||
|
0x00, // bDeviceClass
|
||||||
|
0x00, // bDeviceSubClass
|
||||||
|
0x00, // bDeviceProtocol
|
||||||
|
0x40, // bMaxPacketSize40
|
||||||
|
(uint8_t)((PIOS_USB_VENDOR_ID) & 0xff), // idVendor
|
||||||
|
(uint8_t)((PIOS_USB_VENDOR_ID) >> 8),
|
||||||
|
(uint8_t)((PIOS_USB_PRODUCT_ID) & 0xff), // idProduct
|
||||||
|
(uint8_t)((PIOS_USB_PRODUCT_ID) >> 8),
|
||||||
|
(uint8_t)((PIOS_USB_VERSION_ID) & 0xff), // bcdDevice
|
||||||
|
(uint8_t)((PIOS_USB_VERSION_ID) >> 8),
|
||||||
|
0x01, // Index of string descriptor describing manufacturer
|
||||||
|
0x02, // Index of string descriptor describing product
|
||||||
|
0x03, // Index of string descriptor describing the device serial number
|
||||||
|
0x01 // bNumConfigurations
|
||||||
|
};
|
||||||
|
|
||||||
|
// *************************************************
|
||||||
|
// USB Configuration Descriptor
|
||||||
|
// All Descriptors (Configuration, Interface, Endpoint, Class, Vendor
|
||||||
|
|
||||||
|
const uint8_t PIOS_HID_ConfigDescriptor[PIOS_HID_SIZ_CONFIG_DESC] =
|
||||||
|
{
|
||||||
|
0x09, // bLength: Configuation Descriptor size
|
||||||
|
USB_CONFIGURATION_DESCRIPTOR_TYPE, // bDescriptorType: Configuration
|
||||||
|
PIOS_HID_SIZ_CONFIG_DESC,
|
||||||
|
// wTotalLength: Bytes returned
|
||||||
|
0x00,
|
||||||
|
0x01, // bNumInterfaces: 1 interface
|
||||||
|
0x01, // bConfigurationValue: Configuration value
|
||||||
|
0x00, // iConfiguration: Index of string descriptor describing the configuration
|
||||||
|
0xC0, // bmAttributes: Bus powered
|
||||||
|
0x7D, // MaxPower 250 mA - needed to power the RF transmitter
|
||||||
|
|
||||||
|
// ************** Descriptor of Custom HID interface ****************
|
||||||
|
// 09
|
||||||
|
0x09, // bLength: Interface Descriptor size
|
||||||
|
USB_INTERFACE_DESCRIPTOR_TYPE, // bDescriptorType: Interface descriptor type
|
||||||
|
0x00, // bInterfaceNumber: Number of Interface
|
||||||
|
0x00, // bAlternateSetting: Alternate setting
|
||||||
|
0x02, // bNumEndpoints
|
||||||
|
0x03, // bInterfaceClass: HID
|
||||||
|
0x00, // bInterfaceSubClass : 1=BOOT, 0=no boot
|
||||||
|
0x00, // nInterfaceProtocol : 0=none, 1=keyboard, 2=mouse
|
||||||
|
0, // iInterface: Index of string descriptor
|
||||||
|
|
||||||
|
// ******************** Descriptor of Custom HID HID ********************
|
||||||
|
// 18
|
||||||
|
0x09, // bLength: HID Descriptor size
|
||||||
|
HID_DESCRIPTOR_TYPE, // bDescriptorType: HID
|
||||||
|
0x10, // bcdHID: HID Class Spec release number
|
||||||
|
0x01,
|
||||||
|
0x00, // bCountryCode: Hardware target country
|
||||||
|
0x01, // bNumDescriptors: Number of HID class descriptors to follow
|
||||||
|
0x22, // bDescriptorType
|
||||||
|
PIOS_HID_SIZ_REPORT_DESC, // wItemLength: Total length of Report descriptor
|
||||||
|
0x00,
|
||||||
|
|
||||||
|
// ******************** Descriptor of Custom HID endpoints ******************
|
||||||
|
// 27
|
||||||
|
0x07, // bLength: Endpoint Descriptor size
|
||||||
|
USB_ENDPOINT_DESCRIPTOR_TYPE, // bDescriptorType:
|
||||||
|
|
||||||
|
0x81, // bEndpointAddress: Endpoint Address (IN)
|
||||||
|
0x03, // bmAttributes: Interrupt endpoint
|
||||||
|
0x40, // wMaxPacketSize: 2 Bytes max
|
||||||
|
0x00,
|
||||||
|
1, // bInterval: Polling Interval in ms
|
||||||
|
// 34
|
||||||
|
|
||||||
|
0x07, // bLength: Endpoint Descriptor size
|
||||||
|
USB_ENDPOINT_DESCRIPTOR_TYPE, // bDescriptorType:
|
||||||
|
// Endpoint descriptor type
|
||||||
|
0x01, // bEndpointAddress:
|
||||||
|
// Endpoint Address (OUT)
|
||||||
|
0x03, // bmAttributes: Interrupt endpoint
|
||||||
|
0x40, // wMaxPacketSize: 2 Bytes max
|
||||||
|
0x00,
|
||||||
|
1, // bInterval: Polling Interval in ms
|
||||||
|
// 41
|
||||||
|
};
|
||||||
|
|
||||||
|
// *************************************************
|
||||||
|
|
||||||
|
const uint8_t PIOS_HID_ReportDescriptor[PIOS_HID_SIZ_REPORT_DESC] =
|
||||||
|
{
|
||||||
|
0x06, 0x9c, 0xff, // USAGE_PAGE (Vendor Page: 0xFF00)
|
||||||
|
0x09, 0x01, // USAGE (Demo Kit)
|
||||||
|
0xa1, 0x01, // COLLECTION (Application)
|
||||||
|
// 6
|
||||||
|
|
||||||
|
// Data 1
|
||||||
|
0x85, 0x01, // REPORT_ID (1)
|
||||||
|
0x09, 0x02, // USAGE (LED 1)
|
||||||
|
0x15, 0x00, // LOGICAL_MINIMUM (0)
|
||||||
|
0x25, 0xff, // LOGICAL_MAXIMUM (255)
|
||||||
|
0x75, 0x08, // REPORT_SIZE (8)
|
||||||
|
0x95, PIOS_USB_HID_DATA_LENGTH+1, // REPORT_COUNT (1)
|
||||||
|
0x81, 0x83, // INPUT (Const,Var,Array)
|
||||||
|
// 20
|
||||||
|
|
||||||
|
// Data 1
|
||||||
|
0x85, 0x02, // REPORT_ID (2)
|
||||||
|
0x09, 0x03, // USAGE (LED 1)
|
||||||
|
0x15, 0x00, // LOGICAL_MINIMUM (0)
|
||||||
|
0x25, 0xff, // LOGICAL_MAXIMUM (255)
|
||||||
|
0x75, 0x08, // REPORT_SIZE (8)
|
||||||
|
0x95, PIOS_USB_HID_DATA_LENGTH+1, // REPORT_COUNT (1)
|
||||||
|
0x91, 0x82, // OUTPUT (Data,Var,Abs,Vol)
|
||||||
|
// 34
|
||||||
|
|
||||||
|
0xc0 // END_COLLECTION
|
||||||
|
};
|
||||||
|
|
||||||
|
// *************************************************
|
||||||
|
// USB String Descriptors (optional)
|
||||||
|
|
||||||
|
const uint8_t PIOS_HID_StringLangID[PIOS_HID_SIZ_STRING_LANGID] =
|
||||||
|
{
|
||||||
|
PIOS_HID_SIZ_STRING_LANGID,
|
||||||
|
USB_STRING_DESCRIPTOR_TYPE,
|
||||||
|
0x09, 0x08 // LangID = 0x0809: UK. English
|
||||||
|
// 0x09, 0x04 // LangID = 0x0409: U.S. English
|
||||||
|
};
|
||||||
|
|
||||||
|
const uint8_t PIOS_HID_StringVendor[PIOS_HID_SIZ_STRING_VENDOR] =
|
||||||
|
{
|
||||||
|
PIOS_HID_SIZ_STRING_VENDOR, // Size of Vendor string
|
||||||
|
USB_STRING_DESCRIPTOR_TYPE, // bDescriptorType
|
||||||
|
// Manufacturer: "STMicroelectronics"
|
||||||
|
'o', 0,
|
||||||
|
'p', 0,
|
||||||
|
'e', 0,
|
||||||
|
'n', 0,
|
||||||
|
'p', 0,
|
||||||
|
'i', 0,
|
||||||
|
'l', 0,
|
||||||
|
'o', 0,
|
||||||
|
't', 0,
|
||||||
|
'.', 0,
|
||||||
|
'o', 0,
|
||||||
|
'r', 0,
|
||||||
|
'g', 0
|
||||||
|
};
|
||||||
|
|
||||||
|
const uint8_t PIOS_HID_StringProduct[PIOS_HID_SIZ_STRING_PRODUCT] =
|
||||||
|
{
|
||||||
|
PIOS_HID_SIZ_STRING_PRODUCT, // bLength
|
||||||
|
USB_STRING_DESCRIPTOR_TYPE, // bDescriptorType
|
||||||
|
'O', 0,
|
||||||
|
'p', 0,
|
||||||
|
'e', 0,
|
||||||
|
'n', 0,
|
||||||
|
'P', 0,
|
||||||
|
'i', 0,
|
||||||
|
'l', 0,
|
||||||
|
'o', 0,
|
||||||
|
't', 0
|
||||||
|
};
|
||||||
|
|
||||||
|
uint8_t PIOS_HID_StringSerial[PIOS_HID_SIZ_STRING_SERIAL] =
|
||||||
|
{
|
||||||
|
PIOS_HID_SIZ_STRING_SERIAL, // bLength
|
||||||
|
USB_STRING_DESCRIPTOR_TYPE, // bDescriptorType
|
||||||
|
0, 0,
|
||||||
|
0, 0,
|
||||||
|
0, 0,
|
||||||
|
0, 0,
|
||||||
|
0, 0,
|
||||||
|
0, 0,
|
||||||
|
0, 0,
|
||||||
|
0, 0,
|
||||||
|
0, 0,
|
||||||
|
0, 0,
|
||||||
|
0, 0,
|
||||||
|
0, 0,
|
||||||
|
0, 0,
|
||||||
|
0, 0,
|
||||||
|
0, 0,
|
||||||
|
0, 0,
|
||||||
|
0, 0,
|
||||||
|
0, 0,
|
||||||
|
0, 0,
|
||||||
|
0, 0,
|
||||||
|
0, 0,
|
||||||
|
0, 0,
|
||||||
|
0, 0,
|
||||||
|
0, 0,
|
||||||
|
0, 0
|
||||||
|
};
|
||||||
|
|
||||||
|
// *************************************************
|
||||||
156
flight/PipXtreme/stopwatch.c
Normal file
156
flight/PipXtreme/stopwatch.c
Normal file
@ -0,0 +1,156 @@
|
|||||||
|
/**
|
||||||
|
******************************************************************************
|
||||||
|
*
|
||||||
|
* @file stopwatch.c
|
||||||
|
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||||
|
* @brief Stop watch function
|
||||||
|
* @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
|
||||||
|
* (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
|
||||||
|
* 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.,
|
||||||
|
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||||
|
*/
|
||||||
|
|
||||||
|
#include "stopwatch.h"
|
||||||
|
#include "main.h"
|
||||||
|
|
||||||
|
// *****************************************************************************
|
||||||
|
|
||||||
|
uint32_t resolution_us = 0;
|
||||||
|
|
||||||
|
// *****************************************************************************
|
||||||
|
// initialise the stopwatch
|
||||||
|
|
||||||
|
void STOPWATCH_init(uint32_t resolution)
|
||||||
|
{
|
||||||
|
resolution_us = resolution;
|
||||||
|
|
||||||
|
if (resolution_us == 0)
|
||||||
|
return;
|
||||||
|
|
||||||
|
// enable timer clock
|
||||||
|
switch ((uint32_t)STOPWATCH_TIMER)
|
||||||
|
{
|
||||||
|
case (uint32_t)TIM1: RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE); break;
|
||||||
|
case (uint32_t)TIM2: RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE); break;
|
||||||
|
case (uint32_t)TIM3: RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE); break;
|
||||||
|
case (uint32_t)TIM4: RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE); break;
|
||||||
|
#ifdef STM32F10X_HD
|
||||||
|
case (uint32_t)TIM5: RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM5, ENABLE); break;
|
||||||
|
case (uint32_t)TIM6: RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM6, ENABLE); break;
|
||||||
|
case (uint32_t)TIM7: RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM7, ENABLE); break;
|
||||||
|
case (uint32_t)TIM8: RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM8, ENABLE); break;
|
||||||
|
#endif
|
||||||
|
}
|
||||||
|
|
||||||
|
// time base configuration
|
||||||
|
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
|
||||||
|
TIM_TimeBaseStructure.TIM_Period = 0xffff; // max period
|
||||||
|
TIM_TimeBaseStructure.TIM_Prescaler = ((PIOS_MASTER_CLOCK / 1000000) * resolution_us) - 1; // <resolution> uS accuracy @ 72 MHz
|
||||||
|
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
|
||||||
|
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
|
||||||
|
TIM_TimeBaseInit(STOPWATCH_TIMER, &TIM_TimeBaseStructure);
|
||||||
|
|
||||||
|
// enable interrupt request
|
||||||
|
TIM_ITConfig(STOPWATCH_TIMER, TIM_IT_Update, ENABLE);
|
||||||
|
|
||||||
|
// start counter
|
||||||
|
TIM_Cmd(STOPWATCH_TIMER, ENABLE);
|
||||||
|
}
|
||||||
|
|
||||||
|
// *****************************************************************************
|
||||||
|
// timer interrupt
|
||||||
|
/*
|
||||||
|
#ifdef STM32F10X_MD
|
||||||
|
#if (STOPWATCH_TIMER == TIM1)
|
||||||
|
void TIM1_IRQHandler(void)
|
||||||
|
#if (STOPWATCH_TIMER == TIM2)
|
||||||
|
void TIM2_IRQHandler(void)
|
||||||
|
#elif (STOPWATCH_TIMER == TIM3)
|
||||||
|
void TIM3_IRQHandler(void)
|
||||||
|
#elif (STOPWATCH_TIMER == TIM4)
|
||||||
|
void TIM4_IRQHandler(void)
|
||||||
|
#endif
|
||||||
|
#endif
|
||||||
|
#ifdef STM32F10X_HD
|
||||||
|
#if (STOPWATCH_TIMER == TIM1)
|
||||||
|
void TIM1_IRQHandler(void)
|
||||||
|
#if (STOPWATCH_TIMER == TIM2)
|
||||||
|
void TIM2_IRQHandler(void)
|
||||||
|
#elif (STOPWATCH_TIMER == TIM3)
|
||||||
|
void TIM3_IRQHandler(void)
|
||||||
|
#elif (STOPWATCH_TIMER == TIM4)
|
||||||
|
void TIM4_IRQHandler(void)
|
||||||
|
#elif (STOPWATCH_TIMER == TIM5)
|
||||||
|
void TIM5_IRQHandler(void)
|
||||||
|
#elif (STOPWATCH_TIMER == TIM6)
|
||||||
|
void TIM6_IRQHandler(void)
|
||||||
|
#elif (STOPWATCH_TIMER == TIM7)
|
||||||
|
void TIM7_IRQHandler(void)
|
||||||
|
#elif (STOPWATCH_TIMER == TIM8)
|
||||||
|
void TIM8_IRQHandler(void)
|
||||||
|
#endif
|
||||||
|
#endif
|
||||||
|
{
|
||||||
|
|
||||||
|
}
|
||||||
|
*/
|
||||||
|
// *****************************************************************************
|
||||||
|
// resets the stopwatch
|
||||||
|
|
||||||
|
void STOPWATCH_reset(void)
|
||||||
|
{
|
||||||
|
if (resolution_us > 0)
|
||||||
|
{ // reset the counter
|
||||||
|
STOPWATCH_TIMER->CNT = 1; // set to 1 instead of 0 to avoid new IRQ request
|
||||||
|
TIM_ClearITPendingBit(STOPWATCH_TIMER, TIM_IT_Update);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
// *****************************************************************************
|
||||||
|
// returns the timer count since the last STOPWATCH_reset() call
|
||||||
|
// return 0xffffffff if counter overrun or not initialised
|
||||||
|
|
||||||
|
uint32_t STOPWATCH_get_count(void)
|
||||||
|
{
|
||||||
|
uint32_t value = STOPWATCH_TIMER->CNT; // get counter value ASAP
|
||||||
|
|
||||||
|
if (resolution_us == 0)
|
||||||
|
return 0xffffffff; // not initialized
|
||||||
|
|
||||||
|
if (TIM_GetITStatus(STOPWATCH_TIMER, TIM_IT_Update) != RESET)
|
||||||
|
return 0xffffffff; // timer overfloaw
|
||||||
|
|
||||||
|
return value; // return the timer count
|
||||||
|
}
|
||||||
|
|
||||||
|
// *****************************************************************************
|
||||||
|
// returns number of us since the last STOPWATCH_reset() call
|
||||||
|
// return 0xffffffff if counter overrun or not initialised
|
||||||
|
|
||||||
|
uint32_t STOPWATCH_get_us(void)
|
||||||
|
{
|
||||||
|
uint32_t value = STOPWATCH_TIMER->CNT; // get counter value ASAP
|
||||||
|
|
||||||
|
if (resolution_us == 0)
|
||||||
|
return 0xffffffff; // not initialized
|
||||||
|
|
||||||
|
if (TIM_GetITStatus(STOPWATCH_TIMER, TIM_IT_Update) != RESET)
|
||||||
|
return 0xffffffff; // timer overfloaw
|
||||||
|
|
||||||
|
return (value * resolution_us); // return number of micro seconds
|
||||||
|
}
|
||||||
|
|
||||||
|
// *****************************************************************************
|
||||||
Loading…
x
Reference in New Issue
Block a user