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Code Issues Releases Activity

Update the serial ports and receiver and servo ports

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This commit is contained in:
James Cotton 2012-08-25 13:19:23 -05:00
parent b9050809cc
commit ce5ef7edf3
2 changed files with 169 additions and 752 deletions
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147
flight/RevoMini/System/pios_board.c
View File

@ -533,7 +533,7 @@ void PIOS_Board_Init(void) {
uint8_t hwsettings_DSMxBind;
HwSettingsDSMxBindGet(&hwsettings_DSMxBind);
/* Configure Telemetry port */
/* Configure main USART port */
uint8_t hwsettings_rv_telemetryport;
HwSettingsRV_TelemetryPortGet(&hwsettings_rv_telemetryport);
@ -541,149 +541,18 @@ void PIOS_Board_Init(void) {
case HWSETTINGS_RV_TELEMETRYPORT_DISABLED:
break;
case HWSETTINGS_RV_TELEMETRYPORT_TELEMETRY:
PIOS_Board_configure_com(&pios_usart_telem_cfg, PIOS_COM_TELEM_RF_RX_BUF_LEN, PIOS_COM_TELEM_RF_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_telem_rf_id);
PIOS_Board_configure_com(&pios_usart_main_cfg, PIOS_COM_TELEM_RF_RX_BUF_LEN, PIOS_COM_TELEM_RF_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_telem_rf_id);
break;
case HWSETTINGS_RV_TELEMETRYPORT_COMAUX:
PIOS_Board_configure_com(&pios_usart_telem_cfg, PIOS_COM_AUX_RX_BUF_LEN, PIOS_COM_AUX_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_aux_id);
PIOS_Board_configure_com(&pios_usart_main_cfg, PIOS_COM_AUX_RX_BUF_LEN, PIOS_COM_AUX_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_aux_id);
break;
case HWSETTINGS_RV_TELEMETRYPORT_COMBRIDGE:
PIOS_Board_configure_com(&pios_usart_telem_cfg, PIOS_COM_BRIDGE_RX_BUF_LEN, PIOS_COM_BRIDGE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_bridge_id);
PIOS_Board_configure_com(&pios_usart_main_cfg, PIOS_COM_BRIDGE_RX_BUF_LEN, PIOS_COM_BRIDGE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_bridge_id);
break;
} /* hwsettings_rv_telemetryport */
/* Configure GPS port */
uint8_t hwsettings_rv_gpsport;
HwSettingsRV_GPSPortGet(&hwsettings_rv_gpsport);
switch (hwsettings_rv_gpsport){
case HWSETTINGS_RV_GPSPORT_DISABLED:
break;
case HWSETTINGS_RV_GPSPORT_TELEMETRY:
PIOS_Board_configure_com(&pios_usart_gps_cfg, PIOS_COM_TELEM_RF_RX_BUF_LEN, PIOS_COM_TELEM_RF_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_telem_rf_id);
break;
case HWSETTINGS_RV_GPSPORT_GPS:
PIOS_Board_configure_com(&pios_usart_gps_cfg, PIOS_COM_GPS_RX_BUF_LEN, -1, &pios_usart_com_driver, &pios_com_gps_id);
break;
case HWSETTINGS_RV_GPSPORT_COMAUX:
PIOS_Board_configure_com(&pios_usart_gps_cfg, PIOS_COM_AUX_RX_BUF_LEN, PIOS_COM_AUX_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_aux_id);
break;
case HWSETTINGS_RV_GPSPORT_COMBRIDGE:
PIOS_Board_configure_com(&pios_usart_gps_cfg, PIOS_COM_BRIDGE_RX_BUF_LEN, PIOS_COM_BRIDGE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_bridge_id);
break;
}/* hwsettings_rv_gpsport */
/* Configure AUXPort */
uint8_t hwsettings_rv_auxport;
HwSettingsRV_AuxPortGet(&hwsettings_rv_auxport);
switch (hwsettings_rv_auxport) {
case HWSETTINGS_RV_AUXPORT_DISABLED:
break;
case HWSETTINGS_RV_AUXPORT_TELEMETRY:
PIOS_Board_configure_com(&pios_usart_aux_cfg, PIOS_COM_TELEM_RF_RX_BUF_LEN, PIOS_COM_TELEM_RF_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_telem_rf_id);
break;
case HWSETTINGS_RV_AUXPORT_DSM2:
case HWSETTINGS_RV_AUXPORT_DSMX10BIT:
case HWSETTINGS_RV_AUXPORT_DSMX11BIT:
{
enum pios_dsm_proto proto;
switch (hwsettings_rv_auxport) {
case HWSETTINGS_RV_AUXPORT_DSM2:
proto = PIOS_DSM_PROTO_DSM2;
break;
case HWSETTINGS_RV_AUXPORT_DSMX10BIT:
proto = PIOS_DSM_PROTO_DSMX10BIT;
break;
case HWSETTINGS_RV_AUXPORT_DSMX11BIT:
proto = PIOS_DSM_PROTO_DSMX11BIT;
break;
default:
PIOS_Assert(0);
break;
}
//TODO: Define the various Channelgroup for Revo dsm inputs and handle here
PIOS_Board_configure_dsm(&pios_usart_dsm_aux_cfg, &pios_dsm_aux_cfg,
&pios_usart_com_driver, &proto, MANUALCONTROLSETTINGS_CHANNELGROUPS_DSMMAINPORT,&hwsettings_DSMxBind);
}
break;
case HWSETTINGS_RV_AUXPORT_COMAUX:
PIOS_Board_configure_com(&pios_usart_aux_cfg, PIOS_COM_AUX_RX_BUF_LEN, PIOS_COM_AUX_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_aux_id);
break;
case HWSETTINGS_RV_AUXPORT_COMBRIDGE:
PIOS_Board_configure_com(&pios_usart_aux_cfg, PIOS_COM_BRIDGE_RX_BUF_LEN, PIOS_COM_BRIDGE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_bridge_id);
break;
} /* hwsettings_rv_auxport */
/* Configure AUXSbusPort */
//TODO: ensure that the serial invertion pin is setted correctly
uint8_t hwsettings_rv_auxsbusport;
HwSettingsRV_AuxSBusPortGet(&hwsettings_rv_auxsbusport);
switch (hwsettings_rv_auxsbusport) {
case HWSETTINGS_RV_AUXSBUSPORT_DISABLED:
break;
case HWSETTINGS_RV_AUXSBUSPORT_SBUS:
#ifdef PIOS_INCLUDE_SBUS
{
uint32_t pios_usart_sbus_id;
if (PIOS_USART_Init(&pios_usart_sbus_id, &pios_usart_sbus_auxsbus_cfg)) {
PIOS_Assert(0);
}
uint32_t pios_sbus_id;
if (PIOS_SBus_Init(&pios_sbus_id, &pios_sbus_cfg, &pios_usart_com_driver, pios_usart_sbus_id)) {
PIOS_Assert(0);
}
uint32_t pios_sbus_rcvr_id;
if (PIOS_RCVR_Init(&pios_sbus_rcvr_id, &pios_sbus_rcvr_driver, pios_sbus_id)) {
PIOS_Assert(0);
}
pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_SBUS] = pios_sbus_rcvr_id;
}
#endif /* PIOS_INCLUDE_SBUS */
break;
case HWSETTINGS_RV_AUXSBUSPORT_DSM2:
case HWSETTINGS_RV_AUXSBUSPORT_DSMX10BIT:
case HWSETTINGS_RV_AUXSBUSPORT_DSMX11BIT:
{
enum pios_dsm_proto proto;
switch (hwsettings_rv_auxsbusport) {
case HWSETTINGS_RV_AUXSBUSPORT_DSM2:
proto = PIOS_DSM_PROTO_DSM2;
break;
case HWSETTINGS_RV_AUXSBUSPORT_DSMX10BIT:
proto = PIOS_DSM_PROTO_DSMX10BIT;
break;
case HWSETTINGS_RV_AUXSBUSPORT_DSMX11BIT:
proto = PIOS_DSM_PROTO_DSMX11BIT;
break;
default:
PIOS_Assert(0);
break;
}
//TODO: Define the various Channelgroup for Revo dsm inputs and handle here
PIOS_Board_configure_dsm(&pios_usart_dsm_auxsbus_cfg, &pios_dsm_auxsbus_cfg,
&pios_usart_com_driver, &proto, MANUALCONTROLSETTINGS_CHANNELGROUPS_DSMMAINPORT,&hwsettings_DSMxBind);
}
break;
case HWSETTINGS_RV_AUXSBUSPORT_COMAUX:
PIOS_Board_configure_com(&pios_usart_auxsbus_cfg, PIOS_COM_AUX_RX_BUF_LEN, PIOS_COM_AUX_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_aux_id);
break;
case HWSETTINGS_RV_AUXSBUSPORT_COMBRIDGE:
PIOS_Board_configure_com(&pios_usart_auxsbus_cfg, PIOS_COM_BRIDGE_RX_BUF_LEN, PIOS_COM_BRIDGE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_bridge_id);
break;
} /* hwsettings_rv_auxport */
/* Configure FlexiPort */
uint8_t hwsettings_rv_flexiport;
HwSettingsRV_FlexiPortGet(&hwsettings_rv_flexiport);
@ -805,11 +674,7 @@ void PIOS_Board_Init(void) {
PIOS_DEBUG_Init(&pios_tim_servo_all_channels, NELEMENTS(pios_tim_servo_all_channels));
#endif
if (PIOS_I2C_Init(&pios_i2c_mag_adapter_id, &pios_i2c_mag_adapter_cfg)) {
PIOS_DEBUG_Assert(0);
}
if (PIOS_I2C_Init(&pios_i2c_pressure_adapter_id, &pios_i2c_pressure_adapter_cfg)) {
if (PIOS_I2C_Init(&pios_i2c_mag_pressure_adapter_id, &pios_i2c_mag_pressure_adapter_cfg)) {
PIOS_DEBUG_Assert(0);
}
@ -824,7 +689,7 @@ void PIOS_Board_Init(void) {
#endif
#if defined(PIOS_INCLUDE_MS5611)
PIOS_MS5611_Init(&pios_ms5611_cfg, pios_i2c_pressure_adapter_id);
PIOS_MS5611_Init(&pios_ms5611_cfg, pios_i2c_mag_pressure_adapter_id);
#endif
#if defined(PIOS_INCLUDE_MPU6000)

774
flight/board_hw_defs/revomini/board_hw_defs.c
View File

@ -319,58 +319,11 @@ void PIOS_SPI_telem_flash_irq_handler(void)
#include <pios_usart_priv.h>
#ifdef PIOS_INCLUDE_COM_TELEM
/*
* Telemetry on main USART
*/
static const struct pios_usart_cfg pios_usart_telem_cfg = {
.regs = USART2,
.remap = GPIO_AF_USART2,
.init = {
.USART_BaudRate = 57600,
.USART_WordLength = USART_WordLength_8b,
.USART_Parity = USART_Parity_No,
.USART_StopBits = USART_StopBits_1,
.USART_HardwareFlowControl =
USART_HardwareFlowControl_None,
.USART_Mode = USART_Mode_Rx | USART_Mode_Tx,
},
.irq = {
.init = {
.NVIC_IRQChannel = USART2_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.rx = {
.gpio = GPIOD,
.init = {
.GPIO_Pin = GPIO_Pin_6,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP
},
},
.tx = {
.gpio = GPIOD,
.init = {
.GPIO_Pin = GPIO_Pin_5,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP
},
},
};
#endif /* PIOS_COM_TELEM */
#ifdef PIOS_INCLUDE_GPS
/*
* GPS USART
* MAIN USART
*/
static const struct pios_usart_cfg pios_usart_gps_cfg = {
static const struct pios_usart_cfg pios_usart_main_cfg = {
.regs = USART1,
.remap = GPIO_AF_USART1,
.init = {
@ -412,103 +365,7 @@ static const struct pios_usart_cfg pios_usart_gps_cfg = {
},
};
#endif /* PIOS_INCLUDE_GPS */
#ifdef PIOS_INCLUDE_COM_AUX
/*
* AUX USART (UART label on rev2)
*/
static const struct pios_usart_cfg pios_usart_aux_cfg = {
.regs = USART6,
.remap = GPIO_AF_USART6,
.init = {
.USART_BaudRate = 57600,
.USART_WordLength = USART_WordLength_8b,
.USART_Parity = USART_Parity_No,
.USART_StopBits = USART_StopBits_1,
.USART_HardwareFlowControl =
USART_HardwareFlowControl_None,
.USART_Mode = USART_Mode_Rx | USART_Mode_Tx,
},
.irq = {
.init = {
.NVIC_IRQChannel = USART6_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.rx = {
.gpio = GPIOC,
.init = {
.GPIO_Pin = GPIO_Pin_7,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP
},
},
.tx = {
.gpio = GPIOC,
.init = {
.GPIO_Pin = GPIO_Pin_6,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP
},
},
};
#endif /* PIOS_COM_AUX */
#ifdef PIOS_INCLUDE_COM_AUXSBUS
/*
* AUX USART SBUS ( UART/ S Bus label on rev2)
*/
static const struct pios_usart_cfg pios_usart_auxsbus_cfg = {
.regs = UART4,
.remap = GPIO_AF_UART4,
.init = {
.USART_BaudRate = 57600,
.USART_WordLength = USART_WordLength_8b,
.USART_Parity = USART_Parity_No,
.USART_StopBits = USART_StopBits_1,
.USART_HardwareFlowControl =
USART_HardwareFlowControl_None,
.USART_Mode = USART_Mode_Rx | USART_Mode_Tx,
},
.irq = {
.init = {
.NVIC_IRQChannel = UART4_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.rx = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_1,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP
},
},
.tx = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_0,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP
},
},
};
#endif /* PIOS_INCLUDE_COM_AUXSBUS */
#ifdef PIOS_INCLUDE_COM_FLEXI
/*
@ -558,120 +415,7 @@ static const struct pios_usart_cfg pios_usart_flexi_cfg = {
#endif /* PIOS_INCLUDE_COM_FLEXI */
#if defined(PIOS_INCLUDE_DSM)
/*
* Spektrum/JR DSM USART
*/
#include <pios_dsm_priv.h>
static const struct pios_usart_cfg pios_usart_dsm_aux_cfg = {
.regs = USART6,
.remap = GPIO_AF_USART6,
.init = {
.USART_BaudRate = 115200,
.USART_WordLength = USART_WordLength_8b,
.USART_Parity = USART_Parity_No,
.USART_StopBits = USART_StopBits_1,
.USART_HardwareFlowControl = USART_HardwareFlowControl_None,
.USART_Mode = USART_Mode_Rx,
},
.irq = {
.init = {
.NVIC_IRQChannel = USART6_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.rx = {
.gpio = GPIOC,
.init = {
.GPIO_Pin = GPIO_Pin_7,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP
},
},
.tx = {
.gpio = GPIOC,
.init = {
.GPIO_Pin = GPIO_Pin_6,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP
},
},
};
static const struct pios_dsm_cfg pios_dsm_aux_cfg = {
.bind = {
.gpio = GPIOC,
.init = {
.GPIO_Pin = GPIO_Pin_7,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_OUT,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_NOPULL
},
},
};
static const struct pios_usart_cfg pios_usart_dsm_auxsbus_cfg = {
.regs = UART4,
.remap = GPIO_AF_UART4,
.init = {
.USART_BaudRate = 115200,
.USART_WordLength = USART_WordLength_8b,
.USART_Parity = USART_Parity_No,
.USART_StopBits = USART_StopBits_1,
.USART_HardwareFlowControl = USART_HardwareFlowControl_None,
.USART_Mode = USART_Mode_Rx,
},
.irq = {
.init = {
.NVIC_IRQChannel = UART4_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.rx = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_1,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP
},
},
.tx = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_0,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP
},
},
};
static const struct pios_dsm_cfg pios_dsm_auxsbus_cfg = {
.bind = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_1,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_OUT,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_NOPULL
},
},
};
#include "pios_dsm_priv.h"
static const struct pios_usart_cfg pios_usart_dsm_flexi_cfg = {
.regs = USART3,
.remap = GPIO_AF_USART3,
@ -728,70 +472,6 @@ static const struct pios_dsm_cfg pios_dsm_flexi_cfg = {
#endif /* PIOS_INCLUDE_DSM */
#if defined(PIOS_INCLUDE_SBUS)
/*
* S.Bus USART
*/
#include <pios_sbus_priv.h>
static const struct pios_usart_cfg pios_usart_sbus_auxsbus_cfg = {
.regs = UART4,
.init = {
.USART_BaudRate = 100000,
.USART_WordLength = USART_WordLength_8b,
.USART_Parity = USART_Parity_Even,
.USART_StopBits = USART_StopBits_2,
.USART_HardwareFlowControl = USART_HardwareFlowControl_None,
.USART_Mode = USART_Mode_Rx,
},
.irq = {
.init = {
.NVIC_IRQChannel = UART4_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.rx = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_1,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP
},
},
.tx = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_0,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_OUT,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_NOPULL
},
},
};
static const struct pios_sbus_cfg pios_sbus_cfg = {
/* Inverter configuration */
.inv = {
.gpio = GPIOC,
.init = {
.GPIO_Pin = GPIO_Pin_3,
.GPIO_Mode = GPIO_Mode_OUT,
.GPIO_OType = GPIO_OType_PP,
.GPIO_Speed = GPIO_Speed_2MHz,
},
},
.gpio_clk_func = RCC_AHB1PeriphClockCmd,
.gpio_clk_periph = RCC_AHB1Periph_GPIOB,
.gpio_inv_enable = Bit_SET,
};
#endif /* PIOS_INCLUDE_SBUS */
#if defined(PIOS_INCLUDE_COM)
#include <pios_com_priv.h>
@ -805,14 +485,14 @@ static const struct pios_sbus_cfg pios_sbus_cfg = {
/*
* I2C Adapters
*/
void PIOS_I2C_mag_adapter_ev_irq_handler(void);
void PIOS_I2C_mag_adapter_er_irq_handler(void);
void PIOS_I2C_mag_pressure_adapter_ev_irq_handler(void);
void PIOS_I2C_mag_pressureadapter_er_irq_handler(void);
void I2C1_EV_IRQHandler()
__attribute__ ((alias("PIOS_I2C_mag_adapter_ev_irq_handler")));
__attribute__ ((alias("PIOS_I2C_mag_pressure_adapter_ev_irq_handler")));
void I2C1_ER_IRQHandler()
__attribute__ ((alias("PIOS_I2C_mag_adapter_er_irq_handler")));
__attribute__ ((alias("PIOS_I2C_mag_pressure_adapter_er_irq_handler")));
static const struct pios_i2c_adapter_cfg pios_i2c_mag_adapter_cfg = {
static const struct pios_i2c_adapter_cfg pios_i2c_mag_pressure_adapter_cfg = {
.regs = I2C1,
.remap = GPIO_AF_I2C1,
.init = {
@ -827,7 +507,7 @@ static const struct pios_i2c_adapter_cfg pios_i2c_mag_adapter_cfg = {
.scl = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_6,
.GPIO_Pin = GPIO_Pin_8,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_OType = GPIO_OType_OD,
@ -837,7 +517,7 @@ static const struct pios_i2c_adapter_cfg pios_i2c_mag_adapter_cfg = {
.sda = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_7,
.GPIO_Pin = GPIO_Pin_9,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_OType = GPIO_OType_OD,
@ -864,17 +544,17 @@ static const struct pios_i2c_adapter_cfg pios_i2c_mag_adapter_cfg = {
},
};
uint32_t pios_i2c_mag_adapter_id;
void PIOS_I2C_mag_adapter_ev_irq_handler(void)
uint32_t pios_i2c_mag_pressure_adapter_id;
void PIOS_I2C_mag_pressure_adapter_ev_irq_handler(void)
{
/* Call into the generic code to handle the IRQ for this specific device */
PIOS_I2C_EV_IRQ_Handler(pios_i2c_mag_adapter_id);
PIOS_I2C_EV_IRQ_Handler(pios_i2c_mag_pressure_adapter_id);
}
void PIOS_I2C_mag_adapter_er_irq_handler(void)
void PIOS_I2C_mag_pressure_adapter_er_irq_handler(void)
{
/* Call into the generic code to handle the IRQ for this specific device */
PIOS_I2C_ER_IRQ_Handler(pios_i2c_mag_adapter_id);
PIOS_I2C_ER_IRQ_Handler(pios_i2c_mag_pressure_adapter_id);
}
@ -951,73 +631,7 @@ void PIOS_I2C_flexiport_adapter_er_irq_handler(void)
void PIOS_I2C_pressure_adapter_ev_irq_handler(void);
void PIOS_I2C_pressure_adapter_er_irq_handler(void);
void I2C3_EV_IRQHandler() __attribute__ ((alias ("PIOS_I2C_pressure_adapter_ev_irq_handler")));
void I2C3_ER_IRQHandler() __attribute__ ((alias ("PIOS_I2C_pressure_adapter_er_irq_handler")));
static const struct pios_i2c_adapter_cfg pios_i2c_pressure_adapter_cfg = {
.regs = I2C3,
.remap = GPIO_AF_I2C3,
.init = {
.I2C_Mode = I2C_Mode_I2C,
.I2C_OwnAddress1 = 0,
.I2C_Ack = I2C_Ack_Enable,
.I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit,
.I2C_DutyCycle = I2C_DutyCycle_2,
.I2C_ClockSpeed = 40000, /* bits/s */
},
.transfer_timeout_ms = 50,
.scl = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_8,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_OType = GPIO_OType_OD,
.GPIO_PuPd = GPIO_PuPd_NOPULL,
},
},
.sda = {
.gpio = GPIOC,
.init = {
.GPIO_Pin = GPIO_Pin_9,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_OType = GPIO_OType_OD,
.GPIO_PuPd = GPIO_PuPd_NOPULL,
},
},
.event = {
.flags = 0, /* FIXME: check this */
.init = {
.NVIC_IRQChannel = I2C3_EV_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.error = {
.flags = 0, /* FIXME: check this */
.init = {
.NVIC_IRQChannel = I2C3_ER_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
};
uint32_t pios_i2c_pressure_adapter_id;
void PIOS_I2C_pressure_adapter_ev_irq_handler(void)
{
/* Call into the generic code to handle the IRQ for this specific device */
PIOS_I2C_EV_IRQ_Handler(pios_i2c_pressure_adapter_id);
}
void PIOS_I2C_pressure_adapter_er_irq_handler(void)
{
/* Call into the generic code to handle the IRQ for this specific device */
PIOS_I2C_ER_IRQ_Handler(pios_i2c_pressure_adapter_id);
}
#endif /* PIOS_INCLUDE_I2C */
#if defined(PIOS_INCLUDE_RTC)
@ -1177,105 +791,10 @@ static const struct pios_tim_clock_cfg tim_4_cfg = {
/**
* Pios servo configuration structures
* Using TIM3, TIM9, TIM2, TIM5
*/
#include <pios_servo_priv.h>
static const struct pios_tim_channel pios_tim_servoport_all_pins[] = {
{
.timer = TIM9,
.timer_chan = TIM_Channel_1,
.pin = {
.gpio = GPIOE,
.init = {
.GPIO_Pin = GPIO_Pin_5,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP
},
.pin_source = GPIO_PinSource5,
},
.remap = GPIO_AF_TIM9,
},
{
.timer = TIM9,
.timer_chan = TIM_Channel_2,
.pin = {
.gpio = GPIOE,
.init = {
.GPIO_Pin = GPIO_Pin_6,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP
},
.pin_source = GPIO_PinSource6,
},
.remap = GPIO_AF_TIM9,
},
{
.timer = TIM11,
.timer_chan = TIM_Channel_1,
.pin = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_9,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP
},
.pin_source = GPIO_PinSource9,
},
.remap = GPIO_AF_TIM11,
},
{
.timer = TIM10,
.timer_chan = TIM_Channel_1,
.pin = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_8,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP
},
.pin_source = GPIO_PinSource8,
},
.remap = GPIO_AF_TIM10,
},
{
.timer = TIM5,
.timer_chan = TIM_Channel_3,
.pin = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_2,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP
},
.pin_source = GPIO_PinSource2,
},
.remap = GPIO_AF_TIM5,
},
{
.timer = TIM5,
.timer_chan = TIM_Channel_4,
.pin = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_3,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP
},
.pin_source = GPIO_PinSource3,
},
.remap = GPIO_AF_TIM5,
},
{
.timer = TIM3,
.timer_chan = TIM_Channel_3,
@ -1308,6 +827,70 @@ static const struct pios_tim_channel pios_tim_servoport_all_pins[] = {
},
.remap = GPIO_AF_TIM3,
},
{
.timer = TIM9,
.timer_chan = TIM_Channel_2,
.pin = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_3,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP
},
.pin_source = GPIO_PinSource3,
},
.remap = GPIO_AF_TIM9,
},
{
.timer = TIM2,
.timer_chan = TIM_Channel_3,
.pin = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_2,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP
},
.pin_source = GPIO_PinSource2,
},
.remap = GPIO_AF_TIM2,
},
{
.timer = TIM5,
.timer_chan = TIM_Channel_2,
.pin = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_1,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP
},
.pin_source = GPIO_PinSource1,
},
.remap = GPIO_AF_TIM5,
},
{
.timer = TIM5,
.timer_chan = TIM_Channel_1,
.pin = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_1,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP
},
.pin_source = GPIO_PinSource1,
},
.remap = GPIO_AF_TIM5,
},
};
const struct pios_servo_cfg pios_servo_cfg = {
@ -1328,127 +911,32 @@ const struct pios_servo_cfg pios_servo_cfg = {
/*
* PWM Inputs
* TIM1, TIM8, TIM12
*/
#if defined(PIOS_INCLUDE_PWM) || defined(PIOS_INCLUDE_PPM)
#include <pios_pwm_priv.h>
static const struct pios_tim_channel pios_tim_rcvrport_all_channels[] = {
{
.timer = TIM4,
.timer_chan = TIM_Channel_4,
.pin = {
.gpio = GPIOD,
.init = {
.GPIO_Pin = GPIO_Pin_15,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP
},
.pin_source = GPIO_PinSource15,
},
.remap = GPIO_AF_TIM4,
},
{
.timer = TIM4,
.timer_chan = TIM_Channel_3,
.pin = {
.gpio = GPIOD,
.init = {
.GPIO_Pin = GPIO_Pin_14,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP
},
.pin_source = GPIO_PinSource14,
},
.remap = GPIO_AF_TIM4,
},
{
.timer = TIM4,
.timer_chan = TIM_Channel_2,
.pin = {
.gpio = GPIOD,
.init = {
.GPIO_Pin = GPIO_Pin_13,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP
},
.pin_source = GPIO_PinSource13,
},
.remap = GPIO_AF_TIM4,
},
{
.timer = TIM4,
.timer_chan = TIM_Channel_1,
.pin = {
.gpio = GPIOD,
.init = {
.GPIO_Pin = GPIO_Pin_12,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP
},
.pin_source = GPIO_PinSource12,
},
.remap = GPIO_AF_TIM4,
},
{
.timer = TIM1,
.timer_chan = TIM_Channel_4,
.pin = {
.gpio = GPIOE,
.init = {
.GPIO_Pin = GPIO_Pin_14,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP
},
.pin_source = GPIO_PinSource14,
},
.remap = GPIO_AF_TIM1,
},
{
.timer = TIM1,
.timer_chan = TIM_Channel_3,
.pin = {
.gpio = GPIOE,
.init = {
.GPIO_Pin = GPIO_Pin_13,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP
},
.pin_source = GPIO_PinSource13,
},
.remap = GPIO_AF_TIM1,
},
{
.timer = TIM1,
.timer_chan = TIM_Channel_2,
.pin = {
.gpio = GPIOE,
.init = {
.GPIO_Pin = GPIO_Pin_11,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP
},
.pin_source = GPIO_PinSource11,
},
.remap = GPIO_AF_TIM1,
},
{
.timer = TIM1,
.timer_chan = TIM_Channel_1,
.pin = {
.gpio = GPIOE,
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_8,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP
},
.pin_source = GPIO_PinSource8,
},
.remap = GPIO_AF_TIM1,
},
{
.timer = TIM8,
.timer_chan = TIM_Channel_4,
.pin = {
.gpio = GPIOC,
.init = {
.GPIO_Pin = GPIO_Pin_9,
.GPIO_Speed = GPIO_Speed_2MHz,
@ -1458,7 +946,71 @@ static const struct pios_tim_channel pios_tim_rcvrport_all_channels[] = {
},
.pin_source = GPIO_PinSource9,
},
.remap = GPIO_AF_TIM1,
.remap = GPIO_AF_TIM8,
},
{
.timer = TIM8,
.timer_chan = TIM_Channel_3,
.pin = {
.gpio = GPIOC,
.init = {
.GPIO_Pin = GPIO_Pin_8,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP
},
.pin_source = GPIO_PinSource8,
},
.remap = GPIO_AF_TIM8,
},
{
.timer = TIM8,
.timer_chan = TIM_Channel_2,
.pin = {
.gpio = GPIOC,
.init = {
.GPIO_Pin = GPIO_Pin_7,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP
},
.pin_source = GPIO_PinSource7,
},
.remap = GPIO_AF_TIM8,
},
{
.timer = TIM8,
.timer_chan = TIM_Channel_1,
.pin = {
.gpio = GPIOC,
.init = {
.GPIO_Pin = GPIO_Pin_6,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP
},
.pin_source = GPIO_PinSource6,
},
.remap = GPIO_AF_TIM8,
},
{
.timer = TIM12,
.timer_chan = TIM_Channel_2,
.pin = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_15,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP
},
.pin_source = GPIO_PinSource15,
},
.remap = GPIO_AF_TIM12,
},
};