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bootcfg: use UAVobj to control boot-time HW config

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This should mark an end to the compile-time selection of HW
configurations.

Minor changes in board initialization for all platforms:
 - Most config structs are marked static to prevent badly written
   drivers from directly referring to config data.
 - Adapt to changes in .irq fields in config data.
 - Adapt to changes in USART IRQ handling.

Major changes in board initialization for CC:
 - Use HwSettings UAVObj to decide which drivers to attach to
   the "main" port and the flexi port, and select the appropriate
   device configuration data.
 - HwSettings allows choosing between Disabled, Telemetry, SBUS,
   Spektrum,GPS, and I2C for each of the two ports.
 - Use ManualControlSettings.InputMode to init/configure the
   appropriate receiver module, and register its available rx channels
   with the PIOS_RCVR layer.  Can choose between PWM, Spektrum and PPM
   at board init time.  PPM driver is broken, and SBUS will work once
   it is added to this UAVObj as an option.
 - CC build now includes code for SBUS, Spektrum and PWM receivers in
   every firmware image.

PIOS_USART driver:
 - Now handles its own low-level IRQs internally
 - If NULL upper-level IRQ handler is bound in at board init time
   then rx/tx is satisfied by internal PIOS_USART buffered IO routines
   which are (typically) attached to the COM layer.
 - If an alternate upper-level IRQ handler is bound in at board init
   then that handler is called and expected to clear down the USART
   IRQ sources.  This is used by Spektrum and SBUS drivers.

PIOS_SBUS and PIOS_SPEKTRUM drivers:
 - Improved data/API hiding
 - No longer assume they know where their config data is stored which
   allows for boot-time alternate configurations for the driver.
 - Now registers an upper-level IRQ handlerwith the USART layer to
   decouple the driver from which USART it is actually attached to.
This commit is contained in:
Stacey Sheldon 2011-07-05 20:21:00 -04:00
parent 6415fc84a5
commit dbf7574946
20 changed files with 705 additions and 706 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

26
flight/AHRS/pios_board.c
View File

@ -54,7 +54,7 @@ static const struct pios_spi_cfg pios_spi_op_cfg = {
.ahb_clk = RCC_AHBPeriph_DMA1,
.irq = {
.handler = PIOS_SPI_op_irq_handler,
.handler = NULL,
.flags =
(DMA1_FLAG_TC4 | DMA1_FLAG_TE4 | DMA1_FLAG_HT4 |
DMA1_FLAG_GL4),
@ -153,11 +153,11 @@ void PIOS_SPI_op_irq_handler(void)
extern void PIOS_ADC_handler(void);
void DMA1_Channel1_IRQHandler() __attribute__ ((alias("PIOS_ADC_handler")));
// Remap the ADC DMA handler to this one
const struct pios_adc_cfg pios_adc_cfg = {
static const struct pios_adc_cfg pios_adc_cfg = {
.dma = {
.ahb_clk = RCC_AHBPeriph_DMA1,
.irq = {
.handler = PIOS_ADC_DMA_Handler,
.handler = NULL,
.flags = (DMA1_FLAG_TC1 | DMA1_FLAG_TE1 | DMA1_FLAG_HT1 | DMA1_FLAG_GL1),
.init = {
.NVIC_IRQChannel = DMA1_Channel1_IRQn,
@ -205,10 +205,7 @@ void PIOS_ADC_handler() {
/*
* AUX USART
*/
void PIOS_USART_aux_irq_handler(void);
void USART3_IRQHandler()
__attribute__ ((alias("PIOS_USART_aux_irq_handler")));
const struct pios_usart_cfg pios_usart_aux_cfg = {
static const struct pios_usart_cfg pios_usart_aux_cfg = {
.regs = USART3,
.init = {
#if defined (PIOS_USART_BAUDRATE)
@ -224,7 +221,7 @@ const struct pios_usart_cfg pios_usart_aux_cfg = {
.USART_Mode = USART_Mode_Rx | USART_Mode_Tx,
},
.irq = {
.handler = PIOS_USART_aux_irq_handler,
.handler = NULL,
.init = {
.NVIC_IRQChannel = USART3_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
@ -250,12 +247,6 @@ const struct pios_usart_cfg pios_usart_aux_cfg = {
},
};
static uint32_t pios_usart_aux_id;
void PIOS_USART_aux_irq_handler(void)
{
PIOS_USART_IRQ_Handler(pios_usart_aux_id);
}
#endif /* PIOS_INCLUDE_USART */
#if defined(PIOS_INCLUDE_COM)
@ -279,7 +270,7 @@ void I2C1_EV_IRQHandler()
void I2C1_ER_IRQHandler()
__attribute__ ((alias("PIOS_I2C_main_adapter_er_irq_handler")));
const struct pios_i2c_adapter_cfg pios_i2c_main_adapter_cfg = {
static const struct pios_i2c_adapter_cfg pios_i2c_main_adapter_cfg = {
.regs = I2C1,
.init = {
.I2C_Mode = I2C_Mode_I2C,
@ -307,7 +298,7 @@ const struct pios_i2c_adapter_cfg pios_i2c_main_adapter_cfg = {
},
},
.event = {
.handler = PIOS_I2C_main_adapter_ev_irq_handler,
.handler = NULL,
.flags = 0, /* FIXME: check this */
.init = {
.NVIC_IRQChannel = I2C1_EV_IRQn,
@ -317,7 +308,7 @@ const struct pios_i2c_adapter_cfg pios_i2c_main_adapter_cfg = {
},
},
.error = {
.handler = PIOS_I2C_main_adapter_er_irq_handler,
.handler = NULL,
.flags = 0, /* FIXME: check this */
.init = {
.NVIC_IRQChannel = I2C1_ER_IRQn,
@ -388,6 +379,7 @@ void PIOS_Board_Init(void) {
/* Communication system */
#if !defined(PIOS_ENABLE_DEBUG_PINS)
#if defined(PIOS_INCLUDE_COM)
uint32_t pios_usart_aux_id;
if (PIOS_USART_Init(&pios_usart_aux_id, &pios_usart_aux_cfg)) {
PIOS_DEBUG_Assert(0);
}

2
flight/Bootloaders/AHRS/pios_board.c
View File

@ -55,7 +55,7 @@ static const struct pios_spi_cfg
.ahb_clk = RCC_AHBPeriph_DMA1,
.irq = {
.handler = PIOS_SPI_op_irq_handler,
.handler = NULL,
.flags = (DMA1_FLAG_TC4 | DMA1_FLAG_TE4 | DMA1_FLAG_HT4 | DMA1_FLAG_GL4),
.init = {
.NVIC_IRQChannel = DMA1_Channel4_IRQn,

16
flight/Bootloaders/OpenPilot/pios_board.c
View File

@ -60,7 +60,7 @@ const struct pios_spi_cfg
.ahb_clk = RCC_AHBPeriph_DMA1,
.irq = {
.handler = PIOS_SPI_ahrs_irq_handler,
.handler = NULL,
.flags = (DMA1_FLAG_TC4 | DMA1_FLAG_TE4 | DMA1_FLAG_HT4 | DMA1_FLAG_GL4),
.init = {
.NVIC_IRQChannel = DMA1_Channel4_IRQn,
@ -143,9 +143,9 @@ void PIOS_SPI_ahrs_irq_handler(void) {
/*
* Telemetry USART
*/
void PIOS_USART_telem_irq_handler(void);
void USART2_IRQHandler() __attribute__ ((alias ("PIOS_USART_telem_irq_handler")));
const struct pios_usart_cfg pios_usart_telem_cfg = { .regs = USART2, .init = {
const struct pios_usart_cfg pios_usart_telem_cfg = {
.regs = USART2,
.init = {
#if defined (PIOS_COM_TELEM_BAUDRATE)
.USART_BaudRate = PIOS_COM_TELEM_BAUDRATE,
#else
@ -157,7 +157,7 @@ const struct pios_usart_cfg pios_usart_telem_cfg = { .regs = USART2, .init = {
.USART_HardwareFlowControl = USART_HardwareFlowControl_None,
.USART_Mode = USART_Mode_Rx | USART_Mode_Tx,
}, .irq = {
.handler = PIOS_USART_telem_irq_handler,
.handler = NULL,
.init = {
.NVIC_IRQChannel = USART2_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
@ -180,11 +180,6 @@ const struct pios_usart_cfg pios_usart_telem_cfg = { .regs = USART2, .init = {
},
}, };
static uint32_t pios_usart_telem_rf_id;
void PIOS_USART_telem_irq_handler(void) {
PIOS_USART_IRQ_Handler(pios_usart_telem_rf_id);
}
#endif /* PIOS_INCLUDE_USART */
#if defined(PIOS_INCLUDE_COM)
@ -218,6 +213,7 @@ void PIOS_Board_Init(void) {
/* Initialize the PiOS library */
#if defined(PIOS_INCLUDE_COM)
uint32_t pios_usart_telem_rf_id;
if (PIOS_USART_Init(&pios_usart_telem_rf_id, &pios_usart_telem_cfg)) {
PIOS_DEBUG_Assert(0);
}

28
flight/CopterControl/Makefile
View File

@ -45,10 +45,7 @@ ENABLE_DEBUG_PINS ?= NO
# Set to Yes to enable the AUX UART which is mapped on the S1 (Tx) and S2 (Rx) servo outputs
ENABLE_AUX_UART ?= NO
USE_TELEMETRY ?= YES
USE_GPS ?= NO
USE_SPEKTRUM ?= NO
USE_SBUS ?= NO
USE_I2C ?= NO
@ -169,6 +166,7 @@ SRC += $(OPUAVSYNTHDIR)/mixersettings.c
SRC += $(OPUAVSYNTHDIR)/mixerstatus.c
SRC += $(OPUAVSYNTHDIR)/firmwareiapobj.c
SRC += $(OPUAVSYNTHDIR)/attitudesettings.c
SRC += $(OPUAVSYNTHDIR)/hwsettings.c
#${wildcard ${OBJ}/$(shell echo $(VAR) | tr A-Z a-z)/*.c}
#SRC += ${foreach OBJ, ${UAVOBJECTS}, $(UAVOBJECTS)/$(OBJ).c}
# Cant use until i can automatically generate list of UAVObjects
@ -388,32 +386,8 @@ endif
# USART port functions. NO means do not use this function.
# YES means use with default USART port number (hardware-dependent).
# Number means use with specified USART port number (this value).
ifneq ($(USE_TELEMETRY), NO)
CDEFS += -DUSE_TELEMETRY
ifneq ($(USE_TELEMETRY), YES)
CDEFS += -DPIOS_PORT_TELEMETRY=$(USE_TELEMETRY)
endif
endif
ifneq ($(USE_GPS), NO)
CDEFS += -DUSE_GPS
ifneq ($(USE_GPS), YES)
CDEFS += -DPIOS_PORT_GPS=$(USE_GPS)
endif
endif
ifneq ($(USE_SPEKTRUM), NO)
CDEFS += -DUSE_SPEKTRUM
ifneq ($(USE_SPEKTRUM), YES)
CDEFS += -DPIOS_PORT_SPEKTRUM=$(USE_SPEKTRUM)
endif
endif
ifneq ($(USE_SBUS), NO)
CDEFS += -DUSE_SBUS
ifneq ($(USE_SBUS), YES)
CDEFS += -DPIOS_PORT_SBUS=$(USE_SBUS)
endif
endif
ifeq ($(USE_I2C), YES)

24
flight/CopterControl/System/inc/pios_config.h
View File

@ -45,25 +45,15 @@
#define PIOS_INCLUDE_RCVR
/* Receiver interfaces - only one allowed */
#if !defined(USE_SPEKTRUM) && !defined(USE_SBUS)
/* Supported receiver interfaces */
#define PIOS_INCLUDE_SPEKTRUM
#define PIOS_INCLUDE_SBUS
//#define PIOS_INCLUDE_PPM
#define PIOS_INCLUDE_PWM
#endif
/* USART-based PIOS modules */
#if defined(USE_TELEMETRY)
/* Supported USART-based PIOS modules */
#define PIOS_INCLUDE_TELEMETRY_RF
#endif
#if defined(USE_GPS)
#define PIOS_INCLUDE_GPS
#endif
#if defined(USE_SPEKTRUM)
#define PIOS_INCLUDE_SPEKTRUM
#endif
#if defined(USE_SBUS)
#define PIOS_INCLUDE_SBUS
#endif
//#define PIOS_INCLUDE_GPS
#define PIOS_INCLUDE_SERVO
#define PIOS_INCLUDE_SPI
@ -97,8 +87,8 @@
/* Alarm Thresholds */
#define HEAP_LIMIT_WARNING 220
#define HEAP_LIMIT_CRITICAL 150
#define CPULOAD_LIMIT_WARNING 80
#define HEAP_LIMIT_CRITICAL 40
#define CPULOAD_LIMIT_WARNING 85
#define CPULOAD_LIMIT_CRITICAL 95
/* Task stack sizes */

905
flight/CopterControl/System/pios_board.c
View File

@ -30,6 +30,8 @@
#include <pios.h>
#include <openpilot.h>
#include <uavobjectsinit.h>
#include <hwsettings.h>
#include <manualcontrolsettings.h>
#if defined(PIOS_INCLUDE_SPI)
@ -43,7 +45,7 @@
void PIOS_SPI_flash_accel_irq_handler(void);
void DMA1_Channel4_IRQHandler() __attribute__ ((alias ("PIOS_SPI_flash_accel_irq_handler")));
void DMA1_Channel5_IRQHandler() __attribute__ ((alias ("PIOS_SPI_flash_accel_irq_handler")));
const struct pios_spi_cfg pios_spi_flash_accel_cfg = {
static const struct pios_spi_cfg pios_spi_flash_accel_cfg = {
.regs = SPI2,
.init = {
.SPI_Mode = SPI_Mode_Master,
@ -61,7 +63,7 @@ const struct pios_spi_cfg pios_spi_flash_accel_cfg = {
.ahb_clk = RCC_AHBPeriph_DMA1,
.irq = {
.handler = PIOS_SPI_flash_accel_irq_handler,
.handler = NULL,
.flags = (DMA1_FLAG_TC4 | DMA1_FLAG_TE4 | DMA1_FLAG_HT4 | DMA1_FLAG_GL4),
.init = {
.NVIC_IRQChannel = DMA1_Channel4_IRQn,
@ -150,11 +152,11 @@ void PIOS_SPI_flash_accel_irq_handler(void)
extern void PIOS_ADC_handler(void);
void DMA1_Channel1_IRQHandler() __attribute__ ((alias("PIOS_ADC_handler")));
// Remap the ADC DMA handler to this one
const struct pios_adc_cfg pios_adc_cfg = {
static const struct pios_adc_cfg pios_adc_cfg = {
.dma = {
.ahb_clk = RCC_AHBPeriph_DMA1,
.irq = {
.handler = PIOS_ADC_DMA_Handler,
.handler = NULL,
.flags = (DMA1_FLAG_TC1 | DMA1_FLAG_TE1 | DMA1_FLAG_HT1 | DMA1_FLAG_GL1),
.init = {
.NVIC_IRQChannel = DMA1_Channel1_IRQn,
@ -199,141 +201,12 @@ void PIOS_ADC_handler() {
#include "pios_usart_priv.h"
/*
* Serial port configuration.
* TODO: This should be dynamic in the future.
* But for now define any compatile combination of:
* USE_I2C (shared with USART3)
* USE_TELEMETRY
* USE_GPS
* USE_SPEKTRUM
* USE_SBUS (USART1 only, it needs an invertor)
* and optionally define PIOS_PORT_* to USART port numbers
*/
/* Serial telemetry: USART1 or USART3 */
#if !defined(PIOS_PORT_TELEMETRY)
#define PIOS_PORT_TELEMETRY 1
#endif
/* GPS receiver: USART1 or USART3 */
#if !defined(PIOS_PORT_GPS)
#define PIOS_PORT_GPS 3
#endif
/* Spektrum satellite receiver: USART1 or USART3 */
#if !defined(PIOS_PORT_SPEKTRUM)
#define PIOS_PORT_SPEKTRUM 3
#endif
/* Futaba S.Bus receiver: USART1 only (needs invertor) */
#if !defined(PIOS_PORT_SBUS)
#define PIOS_PORT_SBUS 1
#endif
/*
* Define USART port configurations and check for conflicts
* making sure they do not conflict with each other and with I2C.
*/
#define USART_GPIO(port) (((port) == 1) ? GPIOA : GPIOB)
#define USART_RXIO(port) (((port) == 1) ? GPIO_Pin_10 : GPIO_Pin_11)
#define USART_TXIO(port) (((port) == 1) ? GPIO_Pin_9 : GPIO_Pin_10)
#if defined(USE_TELEMETRY)
#if defined(USE_I2C) && (PIOS_PORT_TELEMETRY == 3)
#error defined(USE_I2C) && (PIOS_PORT_TELEMETRY == 3)
#endif
#if (PIOS_PORT_TELEMETRY == 1)
#define PIOS_USART_TELEMETRY USART1
#define PIOS_IRQH_TELEMETRY USART1_IRQHandler
#define PIOS_IRQC_TELEMETRY USART1_IRQn
#else
#define PIOS_USART_TELEMETRY USART3
#define PIOS_IRQH_TELEMETRY USART3_IRQHandler
#define PIOS_IRQC_TELEMETRY USART3_IRQn
#endif
#define PIOS_GPIO_TELEMETRY USART_GPIO(PIOS_PORT_TELEMETRY)
#define PIOS_RXIO_TELEMETRY USART_RXIO(PIOS_PORT_TELEMETRY)
#define PIOS_TXIO_TELEMETRY USART_TXIO(PIOS_PORT_TELEMETRY)
#endif
#if defined(USE_GPS)
#if defined(USE_I2C) && (PIOS_PORT_GPS == 3)
#error defined(USE_I2C) && (PIOS_PORT_GPS == 3)
#endif
#if defined(USE_TELEMETRY) && (PIOS_PORT_TELEMETRY == PIOS_PORT_GPS)
#error defined(USE_TELEMETRY) && (PIOS_PORT_TELEMETRY == PIOS_PORT_GPS)
#endif
#if (PIOS_PORT_GPS == 1)
#define PIOS_USART_GPS USART1
#define PIOS_IRQH_GPS USART1_IRQHandler
#define PIOS_IRQC_GPS USART1_IRQn
#else
#define PIOS_USART_GPS USART3
#define PIOS_IRQH_GPS USART3_IRQHandler
#define PIOS_IRQC_GPS USART3_IRQn
#endif
#define PIOS_GPIO_GPS USART_GPIO(PIOS_PORT_GPS)
#define PIOS_RXIO_GPS USART_RXIO(PIOS_PORT_GPS)
#define PIOS_TXIO_GPS USART_TXIO(PIOS_PORT_GPS)
#endif
#if defined(USE_SPEKTRUM)
#if defined(USE_I2C) && (PIOS_PORT_SPEKTRUM == 3)
#error defined(USE_I2C) && (PIOS_PORT_SPEKTRUM == 3)
#endif
#if defined(USE_TELEMETRY) && (PIOS_PORT_SPEKTRUM == PIOS_PORT_TELEMETRY)
#error defined(USE_TELEMETRY) && (PIOS_PORT_SPEKTRUM == PIOS_PORT_TELEMETRY)
#endif
#if defined(USE_GPS) && (PIOS_PORT_SPEKTRUM == PIOS_PORT_GPS)
#error defined(USE_GPS) && (PIOS_PORT_SPEKTRUM == PIOS_PORT_GPS)
#endif
#if defined(USE_SBUS)
#error defined(USE_SPEKTRUM) && defined(USE_SBUS)
#endif
#if (PIOS_PORT_SPEKTRUM == 1)
#define PIOS_USART_SPEKTRUM USART1
#define PIOS_IRQH_SPEKTRUM USART1_IRQHandler
#define PIOS_IRQC_SPEKTRUM USART1_IRQn
#else
#define PIOS_USART_SPEKTRUM USART3
#define PIOS_IRQH_SPEKTRUM USART3_IRQHandler
#define PIOS_IRQC_SPEKTRUM USART3_IRQn
#endif
#define PIOS_GPIO_SPEKTRUM USART_GPIO(PIOS_PORT_SPEKTRUM)
#define PIOS_RXIO_SPEKTRUM USART_RXIO(PIOS_PORT_SPEKTRUM)
#define PIOS_TXIO_SPEKTRUM USART_TXIO(PIOS_PORT_SPEKTRUM)
#endif
#if defined(USE_SBUS)
#if (PIOS_PORT_SBUS != 1)
#error (PIOS_PORT_SBUS != 1)
#endif
#if defined(USE_TELEMETRY) && (PIOS_PORT_SBUS == PIOS_PORT_TELEMETRY)
#error defined(USE_TELEMETRY) && (PIOS_PORT_SBUS == PIOS_PORT_TELEMETRY)
#endif
#if defined(USE_GPS) && (PIOS_PORT_SBUS == PIOS_PORT_GPS)
#error defined(USE_GPS) && (PIOS_PORT_SBUS == PIOS_PORT_GPS)
#endif
#if defined(USE_SPEKTRUM)
#error defined(USE_SPEKTRUM) && defined(USE_SBUS)
#endif
#define PIOS_USART_SBUS USART1
#define PIOS_IRQH_SBUS USART1_IRQHandler
#define PIOS_IRQC_SBUS USART1_IRQn
#define PIOS_GPIO_SBUS USART_GPIO(PIOS_PORT_SBUS)
#define PIOS_RXIO_SBUS USART_RXIO(PIOS_PORT_SBUS)
#define PIOS_TXIO_SBUS USART_TXIO(PIOS_PORT_SBUS)
#endif
#if defined(PIOS_INCLUDE_TELEMETRY_RF)
/*
* Telemetry USART
*/
void PIOS_USART_telem_irq_handler(void);
void PIOS_IRQH_TELEMETRY() __attribute__ ((alias ("PIOS_USART_telem_irq_handler")));
const struct pios_usart_cfg pios_usart_telem_cfg = {
.regs = PIOS_USART_TELEMETRY,
static const struct pios_usart_cfg pios_usart_telem_main_cfg = {
.regs = USART1,
.init = {
#if defined (PIOS_COM_TELEM_BAUDRATE)
.USART_BaudRate = PIOS_COM_TELEM_BAUDRATE,
@ -347,26 +220,67 @@ const struct pios_usart_cfg pios_usart_telem_cfg = {
.USART_Mode = USART_Mode_Rx | USART_Mode_Tx,
},
.irq = {
.handler = PIOS_USART_telem_irq_handler,
.handler = NULL,
.init = {
.NVIC_IRQChannel = PIOS_IRQC_TELEMETRY,
.NVIC_IRQChannel = USART1_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.rx = {
.gpio = PIOS_GPIO_TELEMETRY,
.gpio = GPIOA,
.init = {
.GPIO_Pin = PIOS_RXIO_TELEMETRY,
.GPIO_Pin = GPIO_Pin_10,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_IPU,
},
},
.tx = {
.gpio = PIOS_GPIO_TELEMETRY,
.gpio = GPIOA,
.init = {
.GPIO_Pin = PIOS_TXIO_TELEMETRY,
.GPIO_Pin = GPIO_Pin_9,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_AF_PP,
},
},
};
static const struct pios_usart_cfg pios_usart_telem_flexi_cfg = {
.regs = USART3,
.init = {
#if defined (PIOS_COM_TELEM_BAUDRATE)
.USART_BaudRate = PIOS_COM_TELEM_BAUDRATE,
#else
.USART_BaudRate = 57600,
#endif
.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 = {
.handler = NULL,
.init = {
.NVIC_IRQChannel = USART3_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.rx = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_11,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_IPU,
},
},
.tx = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_10,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_AF_PP,
},
@ -378,10 +292,8 @@ const struct pios_usart_cfg pios_usart_telem_cfg = {
/*
* GPS USART
*/
void PIOS_USART_gps_irq_handler(void);
void PIOS_IRQH_GPS() __attribute__ ((alias ("PIOS_USART_gps_irq_handler")));
const struct pios_usart_cfg pios_usart_gps_cfg = {
.regs = PIOS_USART_GPS,
static const struct pios_usart_cfg pios_usart_gps_main_cfg = {
.regs = USART1,
.init = {
#if defined (PIOS_COM_GPS_BAUDRATE)
.USART_BaudRate = PIOS_COM_GPS_BAUDRATE,
@ -395,32 +307,259 @@ const struct pios_usart_cfg pios_usart_gps_cfg = {
.USART_Mode = USART_Mode_Rx | USART_Mode_Tx,
},
.irq = {
.handler = PIOS_USART_gps_irq_handler,
.handler = NULL,
.init = {
.NVIC_IRQChannel = PIOS_IRQC_GPS,
.NVIC_IRQChannel = USART1_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.rx = {
.gpio = PIOS_GPIO_GPS,
.gpio = GPIOA,
.init = {
.GPIO_Pin = PIOS_RXIO_GPS,
.GPIO_Pin = GPIO_Pin_10,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_IPU,
},
},
.tx = {
.gpio = PIOS_GPIO_GPS,
.gpio = GPIOA,
.init = {
.GPIO_Pin = PIOS_TXIO_GPS,
.GPIO_Pin = GPIO_Pin_9,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_AF_PP,
},
},
};
#endif
static const struct pios_usart_cfg pios_usart_gps_flexi_cfg = {
.regs = USART3,
.init = {
#if defined (PIOS_COM_GPS_BAUDRATE)
.USART_BaudRate = PIOS_COM_GPS_BAUDRATE,
#else
.USART_BaudRate = 57600,
#endif
.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 = {
.handler = NULL,
.init = {
.NVIC_IRQChannel = USART3_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.rx = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_11,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_IPU,
},
},
.tx = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_10,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_AF_PP,
},
},
};
#endif /* PIOS_INCLUDE_GPS */
#if defined(PIOS_INCLUDE_SPEKTRUM)
/*
* SPEKTRUM USART
*/
#include <pios_spektrum_priv.h>
static const struct pios_usart_cfg pios_usart_spektrum_main_cfg = {
.regs = USART1,
.init = {
#if defined (PIOS_COM_SPEKTRUM_BAUDRATE)
.USART_BaudRate = PIOS_COM_SPEKTRUM_BAUDRATE,
#else
.USART_BaudRate = 115200,
#endif
.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 = {
.handler = PIOS_SPEKTRUM_irq_handler,
.init = {
.NVIC_IRQChannel = USART1_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.rx = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_10,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_IPU,
},
},
.tx = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_9,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_IN_FLOATING,
},
},
};
static const struct pios_spektrum_cfg pios_spektrum_main_cfg = {
.bind = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_10,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_Out_PP,
},
},
.remap = 0,
};
static const struct pios_usart_cfg pios_usart_spektrum_flexi_cfg = {
.regs = USART3,
.init = {
#if defined (PIOS_COM_SPEKTRUM_BAUDRATE)
.USART_BaudRate = PIOS_COM_SPEKTRUM_BAUDRATE,
#else
.USART_BaudRate = 115200,
#endif
.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 = {
.handler = PIOS_SPEKTRUM_irq_handler,
.init = {
.NVIC_IRQChannel = USART3_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.rx = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_11,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_IPU,
},
},
.tx = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_10,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_IN_FLOATING,
},
},
};
static const struct pios_spektrum_cfg pios_spektrum_flexi_cfg = {
.bind = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_11,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_Out_PP,
},
},
.remap = 0,
};
#endif /* PIOS_INCLUDE_SPEKTRUM */
#if defined(PIOS_INCLUDE_SBUS)
/*
* SBUS USART
*/
#include <pios_sbus_priv.h>
static const struct pios_usart_cfg pios_usart_sbus_main_cfg = {
.regs = USART1,
.init = {
#if defined (PIOS_COM_SBUS_BAUDRATE)
.USART_BaudRate = PIOS_COM_SBUS_BAUDRATE,
#else
.USART_BaudRate = 100000,
#endif
.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 = {
.handler = PIOS_SBUS_irq_handler,
.init = {
.NVIC_IRQChannel = USART1_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.rx = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_10,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_IPU,
},
},
.tx = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_9,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_IN_FLOATING,
},
},
};
static const struct pios_sbus_cfg pios_sbus_cfg = {
/* Inverter configuration */
.inv = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_2,
.GPIO_Mode = GPIO_Mode_Out_PP,
.GPIO_Speed = GPIO_Speed_2MHz,
},
},
.gpio_clk_func = RCC_APB2PeriphClockCmd,
.gpio_clk_periph = RCC_APB2Periph_GPIOB,
.gpio_inv_enable = Bit_SET,
};
#endif /* PIOS_INCLUDE_SBUS */
#endif /* PIOS_INCLUDE_USART */
#if defined(PIOS_INCLUDE_COM)
#include "pios_com_priv.h"
#endif /* PIOS_INCLUDE_COM */
#if defined(PIOS_INCLUDE_RTC)
/*
@ -430,11 +569,11 @@ const struct pios_usart_cfg pios_usart_gps_cfg = {
void PIOS_RTC_IRQ_Handler (void);
void RTC_IRQHandler() __attribute__ ((alias ("PIOS_RTC_IRQ_Handler")));
const struct pios_rtc_cfg pios_rtc_main_cfg = {
static const struct pios_rtc_cfg pios_rtc_main_cfg = {
.clksrc = RCC_RTCCLKSource_HSE_Div128,
.prescaler = 100,
.irq = {
.handler = PIOS_RTC_IRQ_Handler,
.handler = NULL,
.init = {
.NVIC_IRQChannel = RTC_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
@ -451,174 +590,11 @@ void PIOS_RTC_IRQ_Handler (void)
#endif
#if defined(PIOS_INCLUDE_SPEKTRUM)
/*
* SPEKTRUM USART
*/
void PIOS_USART_spektrum_irq_handler(void);
void PIOS_IRQH_SPEKTRUM() __attribute__ ((alias ("PIOS_USART_spektrum_irq_handler")));
const struct pios_usart_cfg pios_usart_spektrum_cfg = {
.regs = PIOS_USART_SPEKTRUM,
.init = {
#if defined (PIOS_COM_SPEKTRUM_BAUDRATE)
.USART_BaudRate = PIOS_COM_SPEKTRUM_BAUDRATE,
#else
.USART_BaudRate = 115200,
#endif
.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 = {
.handler = PIOS_USART_spektrum_irq_handler,
.init = {
.NVIC_IRQChannel = PIOS_IRQC_SPEKTRUM,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.rx = {
.gpio = PIOS_GPIO_SPEKTRUM,
.init = {
.GPIO_Pin = PIOS_RXIO_SPEKTRUM,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_IPU,
},
},
.tx = {
.gpio = PIOS_GPIO_SPEKTRUM,
.init = {
.GPIO_Pin = PIOS_TXIO_SPEKTRUM,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_IN_FLOATING,
},
},
};
#include <pios_spektrum_priv.h>
static uint32_t pios_usart_spektrum_id;
void PIOS_USART_spektrum_irq_handler(void)
{
PIOS_SPEKTRUM_irq_handler(pios_usart_spektrum_id);
}
const struct pios_spektrum_cfg pios_spektrum_cfg = {
.pios_usart_spektrum_cfg = &pios_usart_spektrum_cfg,
.gpio_init = { //used for bind feature
.GPIO_Mode = GPIO_Mode_Out_PP,
.GPIO_Speed = GPIO_Speed_2MHz,
},
.remap = 0,
.port = PIOS_GPIO_SPEKTRUM,
.pin = PIOS_RXIO_SPEKTRUM,
};
#endif /* PIOS_INCLUDE_SPEKTRUM */
#if defined(PIOS_INCLUDE_SBUS)
/*
* SBUS USART
*/
void PIOS_USART_sbus_irq_handler(void);
void PIOS_IRQH_SBUS() __attribute__ ((alias ("PIOS_USART_sbus_irq_handler")));
const struct pios_usart_cfg pios_usart_sbus_cfg = {
.regs = PIOS_USART_SBUS,
.init = {
#if defined (PIOS_COM_SBUS_BAUDRATE)
.USART_BaudRate = PIOS_COM_SBUS_BAUDRATE,
#else
.USART_BaudRate = 100000,
#endif
.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 = {
.handler = PIOS_USART_sbus_irq_handler,
.init = {
.NVIC_IRQChannel = PIOS_IRQC_SBUS,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.rx = {
.gpio = PIOS_GPIO_SBUS,
.init = {
.GPIO_Pin = PIOS_RXIO_SBUS,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_IPU,
},
},
.tx = {
.gpio = PIOS_GPIO_SBUS,
.init = {
.GPIO_Pin = PIOS_TXIO_SBUS,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_IN_FLOATING,
},
},
};
static uint32_t pios_usart_sbus_id;
void PIOS_USART_sbus_irq_handler(void)
{
PIOS_SBUS_irq_handler(pios_usart_sbus_id);
}
#include <pios_sbus_priv.h>
const struct pios_sbus_cfg pios_sbus_cfg = {
/* USART configuration structure */
.pios_usart_sbus_cfg = &pios_usart_sbus_cfg,
/* Invertor configuration */
.gpio_clk_func = RCC_APB2PeriphClockCmd,
.gpio_clk_periph = RCC_APB2Periph_GPIOB,
.gpio_inv_port = GPIOB,
.gpio_inv_init = {
.GPIO_Pin = GPIO_Pin_2,
.GPIO_Mode = GPIO_Mode_Out_PP,
.GPIO_Speed = GPIO_Speed_2MHz,
},
.gpio_inv_enable = Bit_SET,
};
#endif /* PIOS_INCLUDE_SBUS */
#if defined(PIOS_INCLUDE_TELEMETRY_RF)
static uint32_t pios_usart_telem_rf_id;
void PIOS_USART_telem_irq_handler(void)
{
PIOS_USART_IRQ_Handler(pios_usart_telem_rf_id);
}
#endif /* PIOS_INCLUDE_TELEMETRY_RF */
#if defined(PIOS_INCLUDE_GPS)
static uint32_t pios_usart_gps_id;
void PIOS_USART_gps_irq_handler(void)
{
PIOS_USART_IRQ_Handler(pios_usart_gps_id);
}
#endif /* PIOS_INCLUDE_GPS */
#endif /* PIOS_INCLUDE_USART */
#if defined(PIOS_INCLUDE_COM)
#include "pios_com_priv.h"
#endif /* PIOS_INCLUDE_COM */
/*
* Servo outputs
*/
#include <pios_servo_priv.h>
const struct pios_servo_channel pios_servo_channels[] = {
static const struct pios_servo_channel pios_servo_channels[] = {
{
.timer = TIM4,
.port = GPIOB,
@ -684,13 +660,19 @@ const struct pios_servo_cfg pios_servo_cfg = {
.num_channels = NELEMENTS(pios_servo_channels),
};
/*
* PPM Inputs
*/
#if defined(PIOS_INCLUDE_PPM)
#include <pios_ppm_priv.h>
#endif
/*
* PWM Inputs
*/
#if defined(PIOS_INCLUDE_PWM)
#include <pios_pwm_priv.h>
const struct pios_pwm_channel pios_pwm_channels[] = {
static const struct pios_pwm_channel pios_pwm_channels[] = {
{
.timer = TIM4,
.port = GPIOB,
@ -761,7 +743,7 @@ const struct pios_pwm_cfg pios_pwm_cfg = {
},
.remap = 0,
.irq = {
.handler = TIM2_IRQHandler,
.handler = NULL,
.init = {
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
.NVIC_IRQChannelSubPriority = 0,
@ -798,7 +780,7 @@ void PIOS_I2C_main_adapter_er_irq_handler(void);
void I2C2_EV_IRQHandler() __attribute__ ((alias ("PIOS_I2C_main_adapter_ev_irq_handler")));
void I2C2_ER_IRQHandler() __attribute__ ((alias ("PIOS_I2C_main_adapter_er_irq_handler")));
const struct pios_i2c_adapter_cfg pios_i2c_main_adapter_cfg = {
static const struct pios_i2c_adapter_cfg pios_i2c_main_adapter_cfg = {
.regs = I2C2,
.init = {
.I2C_Mode = I2C_Mode_I2C,
@ -826,7 +808,7 @@ const struct pios_i2c_adapter_cfg pios_i2c_main_adapter_cfg = {
},
},
.event = {
.handler = PIOS_I2C_main_adapter_ev_irq_handler,
.handler = NULL,
.flags = 0, /* FIXME: check this */
.init = {
.NVIC_IRQChannel = I2C2_EV_IRQn,
@ -836,7 +818,7 @@ const struct pios_i2c_adapter_cfg pios_i2c_main_adapter_cfg = {
},
},
.error = {
.handler = PIOS_I2C_main_adapter_er_irq_handler,
.handler = NULL,
.flags = 0, /* FIXME: check this */
.init = {
.NVIC_IRQChannel = I2C2_ER_IRQn,
@ -874,8 +856,6 @@ extern const struct pios_com_driver pios_usb_com_driver;
uint32_t pios_com_telem_rf_id;
uint32_t pios_com_telem_usb_id;
uint32_t pios_com_gps_id;
uint32_t pios_com_spektrum_id;
uint32_t pios_com_sbus_id;
/**
* PIOS_Board_Init()
@ -885,8 +865,8 @@ uint32_t pios_com_sbus_id;
void PIOS_Board_Init(void) {
/* Delay system */
PIOS_DELAY_Init();
PIOS_DELAY_Init();
/* Set up the SPI interface to the serial flash */
if (PIOS_SPI_Init(&pios_spi_flash_accel_id, &pios_spi_flash_accel_cfg)) {
PIOS_DEBUG_Assert(0);
@ -894,7 +874,7 @@ void PIOS_Board_Init(void) {
PIOS_Flash_W25X_Init(pios_spi_flash_accel_id);
PIOS_ADXL345_Attach(pios_spi_flash_accel_id);
PIOS_FLASHFS_Init();
/* Initialize UAVObject libraries */
@ -913,65 +893,195 @@ void PIOS_Board_Init(void) {
/* Initialize the task monitor library */
TaskMonitorInitialize();
/* Initialize the PiOS library */
#if defined(PIOS_INCLUDE_COM)
/* Configure the main IO port */
uint8_t hwsettings_cc_mainport;
HwSettingsCC_MainPortGet(&hwsettings_cc_mainport);
switch (hwsettings_cc_mainport) {
case HWSETTINGS_CC_MAINPORT_DISABLED:
break;
case HWSETTINGS_CC_MAINPORT_TELEMETRY:
#if defined(PIOS_INCLUDE_TELEMETRY_RF)
if (PIOS_USART_Init(&pios_usart_telem_rf_id, &pios_usart_telem_cfg)) {
PIOS_DEBUG_Assert(0);
}
if (PIOS_COM_Init(&pios_com_telem_rf_id, &pios_usart_com_driver, pios_usart_telem_rf_id)) {
PIOS_DEBUG_Assert(0);
}
#endif /* PIOS_INCLUDE_TELEMETRY_RF */
#if defined(PIOS_INCLUDE_GPS)
if (PIOS_USART_Init(&pios_usart_gps_id, &pios_usart_gps_cfg)) {
PIOS_DEBUG_Assert(0);
}
if (PIOS_COM_Init(&pios_com_gps_id, &pios_usart_com_driver, pios_usart_gps_id)) {
PIOS_DEBUG_Assert(0);
}
#endif /* PIOS_INCLUDE_GPS */
#if defined(PIOS_INCLUDE_SPEKTRUM)
/* SPEKTRUM init must come before comms */
PIOS_SPEKTRUM_Init();
if (PIOS_USART_Init(&pios_usart_spektrum_id, &pios_usart_spektrum_cfg)) {
PIOS_DEBUG_Assert(0);
}
if (PIOS_COM_Init(&pios_com_spektrum_id, &pios_usart_com_driver, pios_usart_spektrum_id)) {
PIOS_DEBUG_Assert(0);
}
for (uint8_t i = 0; i < PIOS_SPEKTRUM_NUM_INPUTS; i++) {
if (!PIOS_RCVR_Init(&pios_rcvr_channel_to_id_map[pios_rcvr_max_channel],
&pios_spektrum_rcvr_driver,
i)) {
pios_rcvr_max_channel++;
} else {
PIOS_DEBUG_Assert(0);
{
uint32_t pios_usart_telem_rf_id;
if (PIOS_USART_Init(&pios_usart_telem_rf_id, &pios_usart_telem_main_cfg)) {
PIOS_Assert(0);
}
if (PIOS_COM_Init(&pios_com_telem_rf_id, &pios_usart_com_driver, pios_usart_telem_rf_id)) {
PIOS_Assert(0);
}
}
}
#endif
#endif /* PIOS_INCLUDE_TELEMETRY_RF */
break;
case HWSETTINGS_CC_MAINPORT_SBUS:
#if defined(PIOS_INCLUDE_SBUS)
PIOS_SBUS_Init();
{
PIOS_SBUS_Init(&pios_sbus_cfg);
if (PIOS_USART_Init(&pios_usart_sbus_id, &pios_usart_sbus_cfg)) {
PIOS_DEBUG_Assert(0);
}
if (PIOS_COM_Init(&pios_com_sbus_id, &pios_usart_com_driver, pios_usart_sbus_id)) {
PIOS_DEBUG_Assert(0);
}
for (uint8_t i = 0; i < SBUS_NUMBER_OF_CHANNELS; i++) {
if (!PIOS_RCVR_Init(&pios_rcvr_channel_to_id_map[pios_rcvr_max_channel],
&pios_sbus_rcvr_driver,
i)) {
pios_rcvr_max_channel++;
} else {
PIOS_DEBUG_Assert(0);
uint32_t pios_usart_sbus_id;
if (PIOS_USART_Init(&pios_usart_sbus_id, &pios_usart_sbus_main_cfg)) {
PIOS_Assert(0);
}
}
#endif /* PIOS_INCLUDE_SBUS */
break;
case HWSETTINGS_CC_MAINPORT_GPS:
#if defined(PIOS_INCLUDE_GPS)
{
uint32_t pios_usart_gps_id;
if (PIOS_USART_Init(&pios_usart_gps_id, &pios_usart_gps_main_cfg)) {
PIOS_Assert(0);
}
if (PIOS_COM_Init(&pios_com_gps_id, &pios_usart_com_driver, pios_usart_gps_id)) {
PIOS_Assert(0);
}
}
#endif /* PIOS_INCLUDE_GPS */
break;
case HWSETTINGS_CC_MAINPORT_SPEKTRUM:
#if defined(PIOS_INCLUDE_SPEKTRUM)
{
/* SPEKTRUM init must come before usart init since it may use Rx pin for bind */
PIOS_SPEKTRUM_Init(&pios_spektrum_main_cfg, false);
uint32_t pios_usart_spektrum_id;
if (PIOS_USART_Init(&pios_usart_spektrum_id, &pios_usart_spektrum_main_cfg)) {
PIOS_Assert(0);
}
}
#endif /* PIOS_INCLUDE_SPEKTRUM */
break;
case HWSETTINGS_CC_MAINPORT_COMAUX:
break;
}
/* Configure the flexi port */
uint8_t hwsettings_cc_flexiport;
HwSettingsCC_FlexiPortGet(&hwsettings_cc_flexiport);
switch (hwsettings_cc_flexiport) {
case HWSETTINGS_CC_FLEXIPORT_DISABLED:
break;
case HWSETTINGS_CC_FLEXIPORT_TELEMETRY:
#if defined(PIOS_INCLUDE_TELEMETRY_RF)
{
uint32_t pios_usart_telem_rf_id;
if (PIOS_USART_Init(&pios_usart_telem_rf_id, &pios_usart_telem_flexi_cfg)) {
PIOS_Assert(0);
}
if (PIOS_COM_Init(&pios_com_telem_rf_id, &pios_usart_com_driver, pios_usart_telem_rf_id)) {
PIOS_Assert(0);
}
}
#endif /* PIOS_INCLUDE_TELEMETRY_RF */
break;
case HWSETTINGS_CC_FLEXIPORT_GPS:
#if defined(PIOS_INCLUDE_GPS)
{
uint32_t pios_usart_gps_id;
if (PIOS_USART_Init(&pios_usart_gps_id, &pios_usart_gps_flexi_cfg)) {
PIOS_Assert(0);
}
if (PIOS_COM_Init(&pios_com_gps_id, &pios_usart_com_driver, pios_usart_gps_id)) {
PIOS_Assert(0);
}
}
#endif /* PIOS_INCLUDE_GPS */
break;
case HWSETTINGS_CC_FLEXIPORT_SPEKTRUM:
#if defined(PIOS_INCLUDE_SPEKTRUM)
{
/* SPEKTRUM init must come before usart init since it may use Rx pin for bind */
PIOS_SPEKTRUM_Init(&pios_spektrum_flexi_cfg, false);
uint32_t pios_usart_spektrum_id;
if (PIOS_USART_Init(&pios_usart_spektrum_id, &pios_usart_spektrum_flexi_cfg)) {
PIOS_Assert(0);
}
}
#endif /* PIOS_INCLUDE_SPEKTRUM */
break;
case HWSETTINGS_CC_FLEXIPORT_COMAUX:
break;
case HWSETTINGS_CC_FLEXIPORT_I2C:
#if defined(PIOS_INCLUDE_I2C)
{
if (PIOS_I2C_Init(&pios_i2c_main_adapter_id, &pios_i2c_main_adapter_cfg)) {
PIOS_Assert(0);
}
}
#endif /* PIOS_INCLUDE_I2C */
break;
}
/* Configure the selected receiver */
uint8_t manualcontrolsettings_inputmode;
ManualControlSettingsInputModeGet(&manualcontrolsettings_inputmode);
switch (manualcontrolsettings_inputmode) {
case MANUALCONTROLSETTINGS_INPUTMODE_PWM:
#if defined(PIOS_INCLUDE_PWM)
PIOS_PWM_Init();
for (uint8_t i = 0; i < PIOS_PWM_NUM_INPUTS; i++) {
if (!PIOS_RCVR_Init(&pios_rcvr_channel_to_id_map[pios_rcvr_max_channel],
&pios_pwm_rcvr_driver,
i)) {
pios_rcvr_max_channel++;
} else {
PIOS_DEBUG_Assert(0);
}
}
#endif /* PIOS_INCLUDE_PWM */
break;
case MANUALCONTROLSETTINGS_INPUTMODE_PPM:
#if defined(PIOS_INCLUDE_PPM)
PIOS_PPM_Init();
for (uint8_t i = 0; i < PIOS_PPM_NUM_INPUTS; i++) {
if (!PIOS_RCVR_Init(&pios_rcvr_channel_to_id_map[pios_rcvr_max_channel],
&pios_ppm_rcvr_driver,
i)) {
pios_rcvr_max_channel++;
} else {
PIOS_DEBUG_Assert(0);
}
}
#endif /* PIOS_INCLUDE_PPM */
break;
case MANUALCONTROLSETTINGS_INPUTMODE_SPEKTRUM:
#if defined(PIOS_INCLUDE_SPEKTRUM)
if (hwsettings_cc_mainport == HWSETTINGS_CC_MAINPORT_SPEKTRUM ||
hwsettings_cc_flexiport == HWSETTINGS_CC_FLEXIPORT_SPEKTRUM) {
for (uint8_t i = 0; i < PIOS_SPEKTRUM_NUM_INPUTS; i++) {
if (!PIOS_RCVR_Init(&pios_rcvr_channel_to_id_map[pios_rcvr_max_channel],
&pios_spektrum_rcvr_driver,
i)) {
pios_rcvr_max_channel++;
} else {
PIOS_Assert(0);
}
}
}
#endif /* PIOS_INCLUDE_SPEKTRUM */
break;
#if THIS_IS_NOT_YET_A_VALID_INPUT_MODE
case MANUALCONTROLSETTINGS_INPUTMODE_SBUS:
#if defined(PIOS_INCLUDE_SBUS)
if (hwsettings_cc_mainport == HWSETTINGS_CC_MAINPORT_SBUS ||
hwsettings_cc_flexiport == HWSETTINGS_CC_FLEXIPORT_SBUS) {
for (uint8_t i = 0; i < PIOS_SBUS_NUM_INPUTS; i++) {
if (!PIOS_RCVR_Init(&pios_rcvr_channel_to_id_map[pios_rcvr_max_channel],
&pios_sbus_rcvr_driver,
i)) {
pios_rcvr_max_channel++;
} else {
PIOS_Assert(0);
}
}
}
#endif /* PIOS_INCLUDE_SBUS */
#endif /* PIOS_INCLUDE_COM */
break;
#endif /* THIS_IS_NOT_YET_A_VALID_INPUT_MODE */
}
/* Remap AFIO pin */
GPIO_PinRemapConfig( GPIO_Remap_SWJ_NoJTRST, ENABLE);
@ -980,36 +1090,6 @@ void PIOS_Board_Init(void) {
PIOS_ADC_Init();
PIOS_GPIO_Init();
#if defined(PIOS_INCLUDE_PWM)
#if (PIOS_PWM_NUM_INPUTS > PIOS_RCVR_MAX_DEVS)
#error More receiver inputs than available devices
#endif
PIOS_PWM_Init();
for (uint8_t i = 0; i < PIOS_PWM_NUM_INPUTS; i++) {
if (!PIOS_RCVR_Init(&pios_rcvr_channel_to_id_map[pios_rcvr_max_channel],
&pios_pwm_rcvr_driver,
i)) {
pios_rcvr_max_channel++;
} else {
PIOS_DEBUG_Assert(0);
}
}
#endif
#if defined(PIOS_INCLUDE_PPM)
#if (PIOS_PPM_NUM_INPUTS > PIOS_RCVR_MAX_DEVS)
#error More receiver inputs than available devices
#endif
PIOS_PPM_Init();
for (uint8_t i = 0; i < PIOS_PPM_NUM_INPUTS; i++) {
if (!PIOS_RCVR_Init(&pios_rcvr_channel_to_id_map[pios_rcvr_max_channel],
&pios_ppm_rcvr_driver,
i)) {
pios_rcvr_max_channel++;
} else {
PIOS_DEBUG_Assert(0);
}
}
#endif
#if defined(PIOS_INCLUDE_USB_HID)
PIOS_USB_HID_Init(0);
#if defined(PIOS_INCLUDE_COM)
@ -1017,13 +1097,8 @@ void PIOS_Board_Init(void) {
PIOS_DEBUG_Assert(0);
}
#endif /* PIOS_INCLUDE_COM */
#endif
#endif /* PIOS_INCLUDE_USB_HID */
#if defined(PIOS_INCLUDE_I2C)
if (PIOS_I2C_Init(&pios_i2c_main_adapter_id, &pios_i2c_main_adapter_cfg)) {
PIOS_DEBUG_Assert(0);
}
#endif /* PIOS_INCLUDE_I2C */
PIOS_IAP_Init();
PIOS_WDG_Init();
}

43
flight/INS/pios_board.c
View File

@ -61,7 +61,7 @@ static const struct pios_spi_cfg pios_spi_op_mag_cfg = {
.ahb_clk = RCC_AHBPeriph_DMA1,
.irq = {
.handler = PIOS_SPI_op_mag_irq_handler,
.handler = NULL,
.flags =
(DMA1_FLAG_TC4 | DMA1_FLAG_TE4 | DMA1_FLAG_HT4 |
DMA1_FLAG_GL4),
@ -175,7 +175,7 @@ static const struct pios_spi_cfg pios_spi_accel_cfg = {
.ahb_clk = RCC_AHBPeriph_DMA1,
.irq = {
.handler = PIOS_SPI_accel_irq_handler,
.handler = NULL,
.flags = (DMA1_FLAG_TC2 | DMA1_FLAG_TE2 | DMA1_FLAG_HT2 | DMA1_FLAG_GL2),
.init = {
.NVIC_IRQChannel = DMA1_Channel2_IRQn,
@ -265,10 +265,7 @@ void PIOS_SPI_accel_irq_handler(void)
/*
* GPS USART
*/
void PIOS_USART_gps_irq_handler(void);
void USART1_IRQHandler()
__attribute__ ((alias("PIOS_USART_gps_irq_handler")));
const struct pios_usart_cfg pios_usart_gps_cfg = {
static const struct pios_usart_cfg pios_usart_gps_cfg = {
.regs = USART1,
.init = {
#if defined (PIOS_USART_BAUDRATE)
@ -284,7 +281,7 @@ const struct pios_usart_cfg pios_usart_gps_cfg = {
.USART_Mode = USART_Mode_Rx | USART_Mode_Tx,
},
.irq = {
.handler = PIOS_USART_gps_irq_handler,
.handler = NULL,
.init = {
.NVIC_IRQChannel = USART1_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
@ -310,22 +307,13 @@ const struct pios_usart_cfg pios_usart_gps_cfg = {
},
};
static uint32_t pios_usart_gps_id;
void PIOS_USART_gps_irq_handler(void)
{
PIOS_USART_IRQ_Handler(pios_usart_gps_id);
}
#endif /* PIOS_INCLUDE_GPS */
#ifdef PIOS_COM_AUX
/*
* AUX USART
*/
void PIOS_USART_aux_irq_handler(void);
void USART4_IRQHandler()
__attribute__ ((alias("PIOS_USART_aux_irq_handler")));
const struct pios_usart_cfg pios_usart_aux_cfg = {
static const struct pios_usart_cfg pios_usart_aux_cfg = {
.regs = USART4,
.init = {
#if defined (PIOS_USART_BAUDRATE)
@ -341,7 +329,7 @@ const struct pios_usart_cfg pios_usart_aux_cfg = {
.USART_Mode = USART_Mode_Rx | USART_Mode_Tx,
},
.irq = {
.handler = PIOS_USART_aux_irq_handler,
.handler = NULL,
.init = {
.NVIC_IRQChannel = USART4_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
@ -367,12 +355,6 @@ const struct pios_usart_cfg pios_usart_aux_cfg = {
},
};
static uint32_t pios_usart_aux_id;
void PIOS_USART_aux_irq_handler(void)
{
PIOS_USART_IRQ_Handler(pios_usart_aux_id);
}
#endif /* PIOS_COM_AUX */
@ -391,7 +373,7 @@ void I2C1_EV_IRQHandler()
void I2C1_ER_IRQHandler()
__attribute__ ((alias("PIOS_I2C_pres_mag_adapter_er_irq_handler")));
const struct pios_i2c_adapter_cfg pios_i2c_pres_mag_adapter_cfg = {
static const struct pios_i2c_adapter_cfg pios_i2c_pres_mag_adapter_cfg = {
.regs = I2C1,
.init = {
.I2C_Mode = I2C_Mode_I2C,
@ -419,7 +401,7 @@ const struct pios_i2c_adapter_cfg pios_i2c_pres_mag_adapter_cfg = {
},
},
.event = {
.handler = PIOS_I2C_pres_mag_adapter_ev_irq_handler,
.handler = NULL,
.flags = 0, /* FIXME: check this */
.init = {
.NVIC_IRQChannel = I2C1_EV_IRQn,
@ -429,7 +411,7 @@ const struct pios_i2c_adapter_cfg pios_i2c_pres_mag_adapter_cfg = {
},
},
.error = {
.handler = PIOS_I2C_pres_mag_adapter_er_irq_handler,
.handler = NULL,
.flags = 0, /* FIXME: check this */
.init = {
.NVIC_IRQChannel = I2C1_ER_IRQn,
@ -459,7 +441,7 @@ void PIOS_I2C_gyro_adapter_er_irq_handler(void);
void I2C2_EV_IRQHandler() __attribute__ ((alias ("PIOS_I2C_gyro_adapter_ev_irq_handler")));
void I2C2_ER_IRQHandler() __attribute__ ((alias ("PIOS_I2C_gyro_adapter_er_irq_handler")));
const struct pios_i2c_adapter_cfg pios_i2c_gyro_adapter_cfg = {
static const struct pios_i2c_adapter_cfg pios_i2c_gyro_adapter_cfg = {
.regs = I2C2,
.init = {
.I2C_Mode = I2C_Mode_I2C,
@ -487,7 +469,7 @@ const struct pios_i2c_adapter_cfg pios_i2c_gyro_adapter_cfg = {
},
},
.event = {
.handler = PIOS_I2C_gyro_adapter_ev_irq_handler,
.handler = NULL,
.flags = 0, /* FIXME: check this */
.init = {
.NVIC_IRQChannel = I2C2_EV_IRQn,
@ -497,7 +479,7 @@ const struct pios_i2c_adapter_cfg pios_i2c_gyro_adapter_cfg = {
},
},
.error = {
.handler = PIOS_I2C_gyro_adapter_er_irq_handler,
.handler = NULL,
.flags = 0, /* FIXME: check this */
.init = {
.NVIC_IRQChannel = I2C2_ER_IRQn,
@ -547,6 +529,7 @@ void PIOS_Board_Init(void) {
#if defined(PIOS_INCLUDE_COM)
#if defined(PIOS_INCLUDE_GPS)
uint32_t pios_usart_gps_id;
if (PIOS_USART_Init(&pios_usart_gps_id, &pios_usart_gps_cfg)) {
PIOS_DEBUG_Assert(0);
}

12
flight/OpenPilot/Makefile
View File

@ -43,10 +43,6 @@ ENABLE_DEBUG_PINS ?= NO
# Set to Yes to enable the AUX UART which is mapped on the S1 (Tx) and S2 (Rx) servo outputs
ENABLE_AUX_UART ?= NO
USE_SPEKTRUM ?= NO
USE_SBUS ?= NO
# Set to YES when using Code Sourcery toolchain
CODE_SOURCERY ?= YES
@ -366,14 +362,6 @@ ifeq ($(ENABLE_AUX_UART), YES)
CDEFS += -DPIOS_ENABLE_AUX_UART
endif
ifeq ($(USE_SPEKTRUM), YES)
CDEFS += -DUSE_SPEKTRUM
endif
ifeq ($(USE_SBUS), YES)
CDEFS += -DUSE_SBUS
endif
# Place project-specific -D and/or -U options for
# Assembler with preprocessor here.
#ADEFS = -DUSE_IRQ_ASM_WRAPPER

8
flight/OpenPilot/System/inc/pios_config.h
View File

@ -44,14 +44,10 @@
#define PIOS_INCLUDE_RCVR
#if defined(USE_SPEKTRUM)
#define PIOS_INCLUDE_SPEKTRUM
#elif defined(USE_SBUS)
#define PIOS_INCLUDE_SBUS
#else
//#define PIOS_INCLUDE_PPM
//#define PIOS_INCLUDE_SBUS
#define PIOS_INCLUDE_PWM
#endif
//#define PIOS_INCLUDE_PPM
#define PIOS_INCLUDE_SERVO
#define PIOS_INCLUDE_SPI

116
flight/OpenPilot/System/pios_board.c
View File

@ -46,7 +46,7 @@
void PIOS_SPI_sdcard_irq_handler(void);
void DMA1_Channel2_IRQHandler() __attribute__ ((alias ("PIOS_SPI_sdcard_irq_handler")));
void DMA1_Channel3_IRQHandler() __attribute__ ((alias ("PIOS_SPI_sdcard_irq_handler")));
const struct pios_spi_cfg pios_spi_sdcard_cfg = {
static const struct pios_spi_cfg pios_spi_sdcard_cfg = {
.regs = SPI1,
.init = {
.SPI_Mode = SPI_Mode_Master,
@ -63,7 +63,7 @@ const struct pios_spi_cfg pios_spi_sdcard_cfg = {
.ahb_clk = RCC_AHBPeriph_DMA1,
.irq = {
.handler = PIOS_SPI_sdcard_irq_handler,
.handler = NULL,
.flags = (DMA1_FLAG_TC2 | DMA1_FLAG_TE2 | DMA1_FLAG_HT2 | DMA1_FLAG_GL2),
.init = {
.NVIC_IRQChannel = DMA1_Channel2_IRQn,
@ -144,7 +144,7 @@ const struct pios_spi_cfg pios_spi_sdcard_cfg = {
void PIOS_SPI_ahrs_irq_handler(void);
void DMA1_Channel4_IRQHandler() __attribute__ ((alias ("PIOS_SPI_ahrs_irq_handler")));
void DMA1_Channel5_IRQHandler() __attribute__ ((alias ("PIOS_SPI_ahrs_irq_handler")));
const struct pios_spi_cfg pios_spi_ahrs_cfg = {
static const struct pios_spi_cfg pios_spi_ahrs_cfg = {
.regs = SPI2,
.init = {
.SPI_Mode = SPI_Mode_Master,
@ -162,7 +162,7 @@ const struct pios_spi_cfg pios_spi_ahrs_cfg = {
.ahb_clk = RCC_AHBPeriph_DMA1,
.irq = {
.handler = PIOS_SPI_ahrs_irq_handler,
.handler = NULL,
.flags = (DMA1_FLAG_TC4 | DMA1_FLAG_TE4 | DMA1_FLAG_HT4 | DMA1_FLAG_GL4),
.init = {
.NVIC_IRQChannel = DMA1_Channel4_IRQn,
@ -258,11 +258,11 @@ void PIOS_SPI_ahrs_irq_handler(void)
extern void PIOS_ADC_handler(void);
void DMA1_Channel1_IRQHandler() __attribute__ ((alias("PIOS_ADC_handler")));
// Remap the ADC DMA handler to this one
const struct pios_adc_cfg pios_adc_cfg = {
static const struct pios_adc_cfg pios_adc_cfg = {
.dma = {
.ahb_clk = RCC_AHBPeriph_DMA1,
.irq = {
.handler = PIOS_ADC_DMA_Handler,
.handler = NULL,
.flags = (DMA1_FLAG_TC1 | DMA1_FLAG_TE1 | DMA1_FLAG_HT1 | DMA1_FLAG_GL1),
.init = {
.NVIC_IRQChannel = DMA1_Channel1_IRQn,
@ -310,9 +310,7 @@ void PIOS_ADC_handler() {
/*
* Telemetry USART
*/
void PIOS_USART_telem_irq_handler(void);
void USART2_IRQHandler() __attribute__ ((alias ("PIOS_USART_telem_irq_handler")));
const struct pios_usart_cfg pios_usart_telem_cfg = {
static const struct pios_usart_cfg pios_usart_telem_cfg = {
.regs = USART2,
.init = {
#if defined (PIOS_COM_TELEM_BAUDRATE)
@ -327,7 +325,7 @@ const struct pios_usart_cfg pios_usart_telem_cfg = {
.USART_Mode = USART_Mode_Rx | USART_Mode_Tx,
},
.irq = {
.handler = PIOS_USART_telem_irq_handler,
.handler = NULL,
.init = {
.NVIC_IRQChannel = USART2_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
@ -356,9 +354,7 @@ const struct pios_usart_cfg pios_usart_telem_cfg = {
/*
* GPS USART
*/
void PIOS_USART_gps_irq_handler(void);
void USART3_IRQHandler() __attribute__ ((alias ("PIOS_USART_gps_irq_handler")));
const struct pios_usart_cfg pios_usart_gps_cfg = {
static const struct pios_usart_cfg pios_usart_gps_cfg = {
.regs = USART3,
.remap = GPIO_PartialRemap_USART3,
.init = {
@ -374,7 +370,7 @@ const struct pios_usart_cfg pios_usart_gps_cfg = {
.USART_Mode = USART_Mode_Rx | USART_Mode_Tx,
},
.irq = {
.handler = PIOS_USART_gps_irq_handler,
.handler = NULL,
.init = {
.NVIC_IRQChannel = USART3_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
@ -404,9 +400,7 @@ const struct pios_usart_cfg pios_usart_gps_cfg = {
/*
* AUX USART
*/
void PIOS_USART_aux_irq_handler(void);
void USART1_IRQHandler() __attribute__ ((alias ("PIOS_USART_aux_irq_handler")));
const struct pios_usart_cfg pios_usart_aux_cfg = {
static const struct pios_usart_cfg pios_usart_aux_cfg = {
.regs = USART1,
.init = {
#if defined (PIOS_COM_AUX_BAUDRATE)
@ -422,7 +416,7 @@ const struct pios_usart_cfg pios_usart_aux_cfg = {
.USART_Mode = USART_Mode_Rx | USART_Mode_Tx,
},
.irq = {
.handler = PIOS_USART_aux_irq_handler,
.handler = NULL,
.init = {
.NVIC_IRQChannel = USART1_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
@ -458,11 +452,11 @@ const struct pios_usart_cfg pios_usart_aux_cfg = {
void PIOS_RTC_IRQ_Handler (void);
void RTC_IRQHandler() __attribute__ ((alias ("PIOS_RTC_IRQ_Handler")));
const struct pios_rtc_cfg pios_rtc_main_cfg = {
static const struct pios_rtc_cfg pios_rtc_main_cfg = {
.clksrc = RCC_RTCCLKSource_HSE_Div128,
.prescaler = 100,
.irq = {
.handler = PIOS_RTC_IRQ_Handler,
.handler = NULL,
.init = {
.NVIC_IRQChannel = RTC_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
@ -483,9 +477,9 @@ void PIOS_RTC_IRQ_Handler (void)
/*
* SPEKTRUM USART
*/
void PIOS_USART_spektrum_irq_handler(void);
void USART1_IRQHandler() __attribute__ ((alias ("PIOS_USART_spektrum_irq_handler")));
const struct pios_usart_cfg pios_usart_spektrum_cfg = {
#include <pios_spektrum_priv.h>
static const struct pios_usart_cfg pios_usart_spektrum_cfg = {
.regs = USART1,
.init = {
#if defined (PIOS_COM_SPEKTRUM_BAUDRATE)
@ -500,7 +494,7 @@ const struct pios_usart_cfg pios_usart_spektrum_cfg = {
.USART_Mode = USART_Mode_Rx,
},
.irq = {
.handler = PIOS_USART_spektrum_irq_handler,
.handler = PIOS_SPEKTRUM_irq_handler,
.init = {
.NVIC_IRQChannel = USART1_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
@ -533,15 +527,16 @@ void PIOS_USART_spektrum_irq_handler(void)
PIOS_SPEKTRUM_irq_handler(pios_usart_spektrum_id);
}
const struct pios_spektrum_cfg pios_spektrum_cfg = {
.pios_usart_spektrum_cfg = &pios_usart_spektrum_cfg,
.gpio_init = { //used for bind feature
.GPIO_Mode = GPIO_Mode_Out_PP,
.GPIO_Speed = GPIO_Speed_2MHz,
static const struct pios_spektrum_cfg pios_spektrum_cfg = {
.bind = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_10,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_Out_PP,
},
},
.remap = 0,
.port = GPIOA,
.pin = GPIO_Pin_10,
};
#endif /* PIOS_COM_SPEKTRUM */
@ -550,33 +545,6 @@ const struct pios_spektrum_cfg pios_spektrum_cfg = {
#error PIOS_INCLUDE_SBUS not implemented
#endif /* PIOS_INCLUDE_SBUS */
static uint32_t pios_usart_telem_rf_id;
void PIOS_USART_telem_irq_handler(void)
{
PIOS_USART_IRQ_Handler(pios_usart_telem_rf_id);
}
static uint32_t pios_usart_gps_id;
void PIOS_USART_gps_irq_handler(void)
{
#ifdef USART_GPS_DEBUG_PIN
PIOS_DEBUG_PinHigh(USART_GPS_DEBUG_PIN);
#endif
PIOS_USART_IRQ_Handler(pios_usart_gps_id);
#ifdef USART_GPS_DEBUG_PIN
PIOS_DEBUG_PinLow(USART_GPS_DEBUG_PIN);
#endif
}
#ifdef PIOS_COM_AUX
static uint32_t pios_usart_aux_id;
void PIOS_USART_aux_irq_handler(void)
{
PIOS_USART_IRQ_Handler(pios_usart_aux_id);
}
#endif
#endif /* PIOS_INCLUDE_USART */
#if defined(PIOS_INCLUDE_COM)
@ -589,7 +557,7 @@ void PIOS_USART_aux_irq_handler(void)
* Pios servo configuration structures
*/
#include <pios_servo_priv.h>
const struct pios_servo_channel pios_servo_channels[] = {
static const struct pios_servo_channel pios_servo_channels[] = {
{
.timer = TIM4,
.port = GPIOB,
@ -673,7 +641,7 @@ const struct pios_servo_cfg pios_servo_cfg = {
*/
#if defined(PIOS_INCLUDE_PWM)
#include <pios_pwm_priv.h>
const struct pios_pwm_channel pios_pwm_channels[] = {
static const struct pios_pwm_channel pios_pwm_channels[] = {
{
.timer = TIM1,
.port = GPIOA,
@ -758,7 +726,7 @@ const struct pios_pwm_cfg pios_pwm_cfg = {
},
.remap = GPIO_PartialRemap_TIM3,
.irq = {
.handler = TIM1_CC_IRQHandler,
.handler = NULL,
.init = {
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
.NVIC_IRQChannelSubPriority = 0,
@ -789,7 +757,7 @@ void PIOS_TIM5_irq_handler()
#include <pios_ppm_priv.h>
void TIM6_IRQHandler();
void TIM6_IRQHandler() __attribute__ ((alias ("PIOS_TIM6_irq_handler")));
const struct pios_ppmsv_cfg pios_ppmsv_cfg = {
static const struct pios_ppmsv_cfg pios_ppmsv_cfg = {
.tim_base_init = {
.TIM_Prescaler = (PIOS_MASTER_CLOCK / 1000000) - 1, /* For 1 uS accuracy */
.TIM_ClockDivision = TIM_CKD_DIV1,
@ -798,7 +766,7 @@ const struct pios_ppmsv_cfg pios_ppmsv_cfg = {
.TIM_RepetitionCounter = 0x0000,
},
.irq = {
.handler = TIM6_IRQHandler,
.handler = NULL,
.init = {
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
.NVIC_IRQChannelSubPriority = 0,
@ -816,7 +784,7 @@ void PIOS_TIM6_irq_handler(void)
void TIM1_CC_IRQHandler();
void TIM1_CC_IRQHandler() __attribute__ ((alias ("PIOS_TIM1_CC_irq_handler")));
const struct pios_ppm_cfg pios_ppm_cfg = {
static const struct pios_ppm_cfg pios_ppm_cfg = {
.tim_base_init = {
.TIM_Prescaler = (PIOS_MASTER_CLOCK / 1000000) - 1, /* For 1 uS accuracy */
.TIM_ClockDivision = TIM_CKD_DIV1,
@ -838,7 +806,7 @@ const struct pios_ppm_cfg pios_ppm_cfg = {
},
.remap = 0,
.irq = {
.handler = TIM1_CC_IRQHandler,
.handler = NULL,
.init = {
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
.NVIC_IRQChannelSubPriority = 0,
@ -871,7 +839,7 @@ void PIOS_I2C_main_adapter_er_irq_handler(void);
void I2C2_EV_IRQHandler() __attribute__ ((alias ("PIOS_I2C_main_adapter_ev_irq_handler")));
void I2C2_ER_IRQHandler() __attribute__ ((alias ("PIOS_I2C_main_adapter_er_irq_handler")));
const struct pios_i2c_adapter_cfg pios_i2c_main_adapter_cfg = {
static const struct pios_i2c_adapter_cfg pios_i2c_main_adapter_cfg = {
.regs = I2C2,
.init = {
.I2C_Mode = I2C_Mode_I2C,
@ -899,7 +867,7 @@ const struct pios_i2c_adapter_cfg pios_i2c_main_adapter_cfg = {
},
},
.event = {
.handler = PIOS_I2C_main_adapter_ev_irq_handler,
.handler = NULL,
.flags = 0, /* FIXME: check this */
.init = {
.NVIC_IRQChannel = I2C2_EV_IRQn,
@ -909,7 +877,7 @@ const struct pios_i2c_adapter_cfg pios_i2c_main_adapter_cfg = {
},
},
.error = {
.handler = PIOS_I2C_main_adapter_er_irq_handler,
.handler = NULL,
.flags = 0, /* FIXME: check this */
.init = {
.NVIC_IRQChannel = I2C2_ER_IRQn,
@ -1093,19 +1061,25 @@ void PIOS_Board_Init(void) {
/* Initialize the PiOS library */
#if defined(PIOS_INCLUDE_COM)
#if defined(PIOS_INCLUDE_TELEMETRY_RF)
uint32_t pios_usart_telem_rf_id;
if (PIOS_USART_Init(&pios_usart_telem_rf_id, &pios_usart_telem_cfg)) {
PIOS_DEBUG_Assert(0);
}
if (PIOS_COM_Init(&pios_com_telem_rf_id, &pios_usart_com_driver, pios_usart_telem_rf_id)) {
PIOS_DEBUG_Assert(0);
}
#endif /* PIOS_INCLUDE_TELEMETRY_RF */
#if defined(PIOS_INCLUDE_GPS)
uint32_t pios_usart_gps_id;
if (PIOS_USART_Init(&pios_usart_gps_id, &pios_usart_gps_cfg)) {
PIOS_DEBUG_Assert(0);
}
if (PIOS_COM_Init(&pios_com_gps_id, &pios_usart_com_driver, pios_usart_gps_id)) {
PIOS_DEBUG_Assert(0);
}
#endif /* PIOS_INCLUDE_GPS */
#endif
PIOS_Servo_Init();
@ -1117,14 +1091,12 @@ void PIOS_Board_Init(void) {
#error More receiver inputs than available devices
#endif
/* SPEKTRUM init must come before comms */
PIOS_SPEKTRUM_Init();
PIOS_SPEKTRUM_Init(&pios_spektrum_cfg, false);
uint32_t pios_usart_spektrum_id;
if (PIOS_USART_Init(&pios_usart_spektrum_id, &pios_usart_spektrum_cfg)) {
PIOS_DEBUG_Assert(0);
}
if (PIOS_COM_Init(&pios_com_spektrum_id, &pios_usart_com_driver, pios_usart_spektrum_id)) {
PIOS_DEBUG_Assert(0);
}
for (uint8_t i = 0; i < PIOS_SPEKTRUM_NUM_INPUTS; i++) {
if (!PIOS_RCVR_Init(&pios_rcvr_channel_to_id_map[pios_rcvr_max_channel],
&pios_spektrum_rcvr_driver,

1
flight/PiOS/Boards/STM32103CB_CC_Rev1.h
View File

@ -235,7 +235,6 @@ extern uint32_t pios_com_sbus_id;
// Receiver PPM input
//-------------------------
#define PIOS_PPM_NUM_INPUTS 6 //Could be more if needed
#define PIOS_PPM_SUPV_ENABLED 1
//-------------------------
// Receiver PWM input

27
flight/PiOS/STM32F10x/pios_sbus.c
View File

@ -135,17 +135,17 @@ static void process_byte(uint8_t b)
/**
* Initialise S.Bus receiver interface
*/
void PIOS_SBUS_Init(void)
void PIOS_SBUS_Init(const struct pios_sbus_cfg *cfg)
{
/* Enable USART input invertor clock and enable the invertor */
(*pios_sbus_cfg.gpio_clk_func)(pios_sbus_cfg.gpio_clk_periph, ENABLE);
GPIO_Init(pios_sbus_cfg.gpio_inv_port, &pios_sbus_cfg.gpio_inv_init);
GPIO_WriteBit(pios_sbus_cfg.gpio_inv_port,
pios_sbus_cfg.gpio_inv_init.GPIO_Pin,
pios_sbus_cfg.gpio_inv_enable);
/* Enable inverter clock and enable the inverter */
(*cfg->gpio_clk_func)(cfg->gpio_clk_periph, ENABLE);
GPIO_Init(cfg->inv.gpio, &cfg->inv.init);
GPIO_WriteBit(cfg->inv.gpio,
cfg->inv.init.GPIO_Pin,
cfg->gpio_inv_enable);
if (!PIOS_RTC_RegisterTickCallback(PIOS_SBUS_Supervisor, 0)) {
PIOS_DEBUG_Assert(0);
PIOS_Assert(0);
}
}
@ -169,9 +169,14 @@ static int32_t PIOS_SBUS_Get(uint32_t chan_id)
*/
void PIOS_SBUS_irq_handler(uint32_t usart_id)
{
/* Grab the config for this device from the underlying USART device */
const struct pios_usart_cfg * cfg;
cfg = PIOS_USART_GetConfig(usart_id);
PIOS_Assert(cfg);
/* by always reading DR after SR make sure to clear any error interrupts */
volatile uint16_t sr = pios_sbus_cfg.pios_usart_sbus_cfg->regs->SR;
volatile uint8_t b = pios_sbus_cfg.pios_usart_sbus_cfg->regs->DR;
volatile uint16_t sr = cfg->regs->SR;
volatile uint8_t b = cfg->regs->DR;
/* process received byte if one has arrived */
if (sr & USART_SR_RXNE) {
@ -183,7 +188,7 @@ void PIOS_SBUS_irq_handler(uint32_t usart_id)
/* ignore TXE interrupts */
if (sr & USART_SR_TXE) {
/* disable TXE interrupt (TXEIE=0) */
USART_ITConfig(pios_sbus_cfg.pios_usart_sbus_cfg->regs, USART_IT_TXE, DISABLE);
USART_ITConfig(cfg->regs, USART_IT_TXE, DISABLE);
}
}

61
flight/PiOS/STM32F10x/pios_spektrum.c
View File

@ -34,12 +34,6 @@
#include "pios_spektrum_priv.h"
#if defined(PIOS_INCLUDE_SPEKTRUM)
#if defined(PIOS_INCLUDE_PWM) || defined(PIOS_INCLUDE_SBUS)
#error "Both SPEKTRUM and either of PWM or SBUS inputs defined, choose only one"
#endif
#if defined(PIOS_COM_AUX)
#error "AUX com cannot be used with SPEKTRUM"
#endif
/**
* @Note Framesyncing:
@ -65,15 +59,16 @@ uint8_t sync_of = 0;
uint16_t supv_timer=0;
static void PIOS_SPEKTRUM_Supervisor(uint32_t spektrum_id);
static bool PIOS_SPEKTRUM_Bind(const struct pios_spektrum_cfg * cfg);
/**
* Bind and Initialise Spektrum satellite receiver
*/
void PIOS_SPEKTRUM_Init(void)
void PIOS_SPEKTRUM_Init(const struct pios_spektrum_cfg * cfg, bool bind)
{
// TODO: need setting flag for bind on next powerup
if (0) {
PIOS_SPEKTRUM_Bind();
if (bind) {
PIOS_SPEKTRUM_Bind(cfg);
}
if (!PIOS_RTC_RegisterTickCallback(PIOS_SPEKTRUM_Supervisor, 0)) {
@ -98,48 +93,45 @@ static int32_t PIOS_SPEKTRUM_Get(uint32_t chan_id)
/**
* Spektrum bind function
* \output 1 Successful bind
* \output 0 Bind failed
* \note Applications shouldn't call these functions directly
* \output true Successful bind
* \output false Bind failed
*/
uint8_t PIOS_SPEKTRUM_Bind(void)
static bool PIOS_SPEKTRUM_Bind(const struct pios_spektrum_cfg * cfg)
{
GPIO_InitTypeDef GPIO_InitStructure = pios_spektrum_cfg.gpio_init;
GPIO_InitStructure.GPIO_Pin = pios_spektrum_cfg.pin;
GPIO_Init(pios_spektrum_cfg.port, &GPIO_InitStructure);
GPIO_Init(cfg->bind.gpio, &cfg->bind.init);
pios_spektrum_cfg.port->BRR = pios_spektrum_cfg.pin;
GPIO_ResetBits(cfg->bind.gpio, cfg->bind.init.GPIO_Pin);
//PIOS_DELAY_WaitmS(75);
/* RX line, drive high for 10us */
pios_spektrum_cfg.port->BSRR = pios_spektrum_cfg.pin;
GPIO_SetBits(cfg->bind.gpio, cfg->bind.init.GPIO_Pin);
PIOS_DELAY_WaituS(10);
/* RX line, drive low for 120us */
pios_spektrum_cfg.port->BRR = pios_spektrum_cfg.pin;
GPIO_ResetBits(cfg->bind.gpio, cfg->bind.init.GPIO_Pin);
PIOS_DELAY_WaituS(120);
/* RX line, drive high for 120us */
pios_spektrum_cfg.port->BSRR = pios_spektrum_cfg.pin;
GPIO_SetBits(cfg->bind.gpio, cfg->bind.init.GPIO_Pin);
PIOS_DELAY_WaituS(120);
/* RX line, drive low for 120us */
pios_spektrum_cfg.port->BRR = pios_spektrum_cfg.pin;
GPIO_ResetBits(cfg->bind.gpio, cfg->bind.init.GPIO_Pin);
PIOS_DELAY_WaituS(120);
/* RX line, drive high for 120us */
pios_spektrum_cfg.port->BSRR = pios_spektrum_cfg.pin;
GPIO_SetBits(cfg->bind.gpio, cfg->bind.init.GPIO_Pin);
PIOS_DELAY_WaituS(120);
/* RX line, drive low for 120us */
pios_spektrum_cfg.port->BRR = pios_spektrum_cfg.pin;
GPIO_ResetBits(cfg->bind.gpio, cfg->bind.init.GPIO_Pin);
PIOS_DELAY_WaituS(120);
/* RX line, drive high for 120us */
pios_spektrum_cfg.port->BSRR = pios_spektrum_cfg.pin;
GPIO_SetBits(cfg->bind.gpio, cfg->bind.init.GPIO_Pin);
PIOS_DELAY_WaituS(120);
/* RX line, drive low for 120us */
pios_spektrum_cfg.port->BRR = pios_spektrum_cfg.pin;
GPIO_ResetBits(cfg->bind.gpio, cfg->bind.init.GPIO_Pin);
PIOS_DELAY_WaituS(120);
/* RX line, drive high for 120us */
pios_spektrum_cfg.port->BSRR = pios_spektrum_cfg.pin;
GPIO_SetBits(cfg->bind.gpio, cfg->bind.init.GPIO_Pin);
PIOS_DELAY_WaituS(120);
/* RX line, set input and wait for data, PIOS_SPEKTRUM_Init */
return 1;
return true;
}
/**
@ -150,7 +142,7 @@ uint8_t PIOS_SPEKTRUM_Bind(void)
* \return -2 if buffer full (retry)
* \note Applications shouldn't call these functions directly
*/
int32_t PIOS_SPEKTRUM_Decode(uint8_t b)
static int32_t PIOS_SPEKTRUM_Decode(uint8_t b)
{
static uint16_t channel = 0; /*, sync_word = 0;*/
uint8_t channeln = 0, frame = 0;
@ -226,11 +218,16 @@ int32_t PIOS_SPEKTRUM_Decode(uint8_t b)
return 0;
}
/* Interrupt handler for USART */
/* Custom interrupt handler for USART */
void PIOS_SPEKTRUM_irq_handler(uint32_t usart_id) {
/* Grab the config for this device from the underlying USART device */
const struct pios_usart_cfg * cfg;
cfg = PIOS_USART_GetConfig(usart_id);
PIOS_Assert(cfg);
/* by always reading DR after SR make sure to clear any error interrupts */
volatile uint16_t sr = pios_spektrum_cfg.pios_usart_spektrum_cfg->regs->SR;
volatile uint8_t b = pios_spektrum_cfg.pios_usart_spektrum_cfg->regs->DR;
volatile uint16_t sr = cfg->regs->SR;
volatile uint8_t b = cfg->regs->DR;
/* check if RXNE flag is set */
if (sr & USART_SR_RXNE) {
@ -241,7 +238,7 @@ void PIOS_SPEKTRUM_irq_handler(uint32_t usart_id) {
if (sr & USART_SR_TXE) { // check if TXE flag is set
/* Disable TXE interrupt (TXEIE=0) */
USART_ITConfig(pios_spektrum_cfg.pios_usart_spektrum_cfg->regs, USART_IT_TXE, DISABLE);
USART_ITConfig(cfg->regs, USART_IT_TXE, DISABLE);
}
/* byte arrived so clear "watchdog" timer */
supv_timer=0;

77
flight/PiOS/STM32F10x/pios_usart.c
View File

@ -51,6 +51,23 @@ const struct pios_com_driver pios_usart_com_driver = {
.rx_avail = PIOS_USART_RxBufferUsed,
};
enum pios_usart_dev_magic {
PIOS_USART_DEV_MAGIC = 0x11223344,
};
struct pios_usart_dev {
enum pios_usart_dev_magic magic;
const struct pios_usart_cfg * cfg;
// align to 32-bit to try and provide speed improvement;
uint8_t rx_buffer[PIOS_USART_RX_BUFFER_SIZE] __attribute__ ((aligned(4)));
t_fifo_buffer rx;
// align to 32-bit to try and provide speed improvement;
uint8_t tx_buffer[PIOS_USART_TX_BUFFER_SIZE] __attribute__ ((aligned(4)));
t_fifo_buffer tx;
};
static bool PIOS_USART_validate(struct pios_usart_dev * usart_dev)
{
return (usart_dev->magic == PIOS_USART_DEV_MAGIC);
@ -85,6 +102,34 @@ static struct pios_usart_dev * PIOS_USART_alloc(void)
}
#endif
/* Bind Interrupt Handlers
*
* Map all valid USART IRQs to the common interrupt handler
* and provide storage for a 32-bit device id IRQ to map
* each physical IRQ to a specific registered device instance.
*/
static void PIOS_USART_generic_irq_handler(uint32_t usart_id);
static uint32_t PIOS_USART_1_id;
void USART1_IRQHandler(void) __attribute__ ((alias ("PIOS_USART_1_irq_handler")));
static void PIOS_USART_1_irq_handler (void)
{
PIOS_USART_generic_irq_handler (PIOS_USART_1_id);
}
static uint32_t PIOS_USART_2_id;
void USART2_IRQHandler(void) __attribute__ ((alias ("PIOS_USART_2_irq_handler")));
static void PIOS_USART_2_irq_handler (void)
{
PIOS_USART_generic_irq_handler (PIOS_USART_2_id);
}
static uint32_t PIOS_USART_3_id;
void USART3_IRQHandler(void) __attribute__ ((alias ("PIOS_USART_3_irq_handler")));
static void PIOS_USART_3_irq_handler (void)
{
PIOS_USART_generic_irq_handler (PIOS_USART_3_id);
}
/**
* Initialise a single USART device
@ -134,6 +179,11 @@ int32_t PIOS_USART_Init(uint32_t * usart_id, const struct pios_usart_cfg * cfg)
*usart_id = (uint32_t)usart_dev;
/* Configure USART Interrupts */
switch ((uint32_t)usart_dev->cfg->regs) {
case (uint32_t)USART1: PIOS_USART_1_id = (uint32_t)usart_dev;
case (uint32_t)USART2: PIOS_USART_2_id = (uint32_t)usart_dev;
case (uint32_t)USART3: PIOS_USART_3_id = (uint32_t)usart_dev;
}
NVIC_Init(&usart_dev->cfg->irq.init);
USART_ITConfig(usart_dev->cfg->regs, USART_IT_RXNE, ENABLE);
USART_ITConfig(usart_dev->cfg->regs, USART_IT_TXE, ENABLE);
@ -147,6 +197,19 @@ out_fail:
return(-1);
}
const struct pios_usart_cfg * PIOS_USART_GetConfig(uint32_t usart_id)
{
struct pios_usart_dev * usart_dev = (struct pios_usart_dev *)usart_id;
bool valid = PIOS_USART_validate(usart_dev);
if (!valid) {
return (NULL);
}
return usart_dev->cfg;
}
/**
* Changes the baud rate of the USART peripheral without re-initialising.
* \param[in] usart_id USART name (GPS, TELEM, AUX)
@ -157,7 +220,7 @@ static void PIOS_USART_ChangeBaud(uint32_t usart_id, uint32_t baud)
struct pios_usart_dev * usart_dev = (struct pios_usart_dev *)usart_id;
bool valid = PIOS_USART_validate(usart_dev);
PIOS_Assert(valid)
PIOS_Assert(valid);
USART_InitTypeDef USART_InitStructure;
@ -337,12 +400,20 @@ static int32_t PIOS_USART_TxBufferPutMore(uint32_t usart_id, const uint8_t *buff
return rc;
}
void PIOS_USART_IRQ_Handler(uint32_t usart_id)
static void PIOS_USART_generic_irq_handler(uint32_t usart_id)
{
struct pios_usart_dev * usart_dev = (struct pios_usart_dev *)usart_id;
bool valid = PIOS_USART_validate(usart_dev);
PIOS_Assert(valid)
PIOS_Assert(valid);
/* Call any user provided callback function instead of processing
* the interrupt ourselves.
*/
if (usart_dev->cfg->irq.handler) {
(usart_dev->cfg->irq.handler)(usart_id);
return;
}
/* Force read of dr after sr to make sure to clear error flags */
volatile uint16_t sr = usart_dev->cfg->regs->SR;

11
flight/PiOS/inc/pios_sbus_priv.h
View File

@ -66,25 +66,20 @@
#define SBUS_NUMBER_OF_CHANNELS 8
/*
* S.Bus configuration includes USART and programmable invertor
* S.Bus configuration programmable invertor
*/
struct pios_sbus_cfg {
const struct pios_usart_cfg *pios_usart_sbus_cfg;
struct stm32_gpio inv;
void (*gpio_clk_func)(uint32_t periph, FunctionalState state);
uint32_t gpio_clk_periph;
GPIO_TypeDef* gpio_inv_port;
GPIO_InitTypeDef gpio_inv_init;
BitAction gpio_inv_enable;
};
extern void PIOS_SBUS_irq_handler();
extern uint8_t pios_sbus_num_channels;
extern const struct pios_sbus_cfg pios_sbus_cfg;
extern const struct pios_rcvr_driver pios_sbus_rcvr_driver;
extern void PIOS_SBUS_Init(void);
extern void PIOS_SBUS_Init(const struct pios_sbus_cfg * cfg);
#endif /* PIOS_SBUS_PRIV_H */

2
flight/PiOS/inc/pios_spektrum.h
View File

@ -34,8 +34,6 @@
/* Global Types */
/* Public Functions */
extern uint8_t PIOS_SPEKTRUM_Bind(void);
extern int32_t PIOS_SPEKTRUM_Decode(uint8_t b);
#endif /* PIOS_SPEKTRUM_H */

10
flight/PiOS/inc/pios_spektrum_priv.h
View File

@ -36,21 +36,15 @@
#include <pios_usart_priv.h>
struct pios_spektrum_cfg {
const struct pios_usart_cfg * pios_usart_spektrum_cfg;
GPIO_InitTypeDef gpio_init;
struct stm32_gpio bind;
uint32_t remap; /* GPIO_Remap_* */
GPIO_TypeDef * port;
uint16_t pin;
};
extern void PIOS_SPEKTRUM_irq_handler();
extern uint8_t pios_spektrum_num_channels;
extern const struct pios_spektrum_cfg pios_spektrum_cfg;
extern const struct pios_rcvr_driver pios_spektrum_rcvr_driver;
extern void PIOS_SPEKTRUM_Init(void);
extern void PIOS_SPEKTRUM_Init(const struct pios_spektrum_cfg * cfg, bool bind);
#endif /* PIOS_PWM_PRIV_H */

2
flight/PiOS/inc/pios_stm32.h
View File

@ -32,7 +32,7 @@
#define PIOS_STM32_H
struct stm32_irq {
void (*handler) (void);
void (*handler) (uint32_t);
uint32_t flags;
NVIC_InitTypeDef init;
};

20
flight/PiOS/inc/pios_usart_priv.h
View File

@ -48,26 +48,8 @@ struct pios_usart_cfg {
struct stm32_irq irq;
};
enum pios_usart_dev_magic {
PIOS_USART_DEV_MAGIC = 0x11223344,
};
struct pios_usart_dev {
enum pios_usart_dev_magic magic;
const struct pios_usart_cfg * cfg;
// align to 32-bit to try and provide speed improvement;
uint8_t rx_buffer[PIOS_USART_RX_BUFFER_SIZE] __attribute__ ((aligned(4)));
t_fifo_buffer rx;
// align to 32-bit to try and provide speed improvement;
uint8_t tx_buffer[PIOS_USART_TX_BUFFER_SIZE] __attribute__ ((aligned(4)));
t_fifo_buffer tx;
};
extern int32_t PIOS_USART_Init(uint32_t * usart_id, const struct pios_usart_cfg * cfg);
extern void PIOS_USART_IRQ_Handler(uint32_t usart_id);
extern const struct pios_usart_cfg * PIOS_USART_GetConfig(uint32_t usart_id);
#endif /* PIOS_USART_PRIV_H */

20
flight/PipXtreme/pios_board.c
View File

@ -90,7 +90,7 @@ static const struct pios_spi_cfg pios_spi_port_cfg =
.ahb_clk = RCC_AHBPeriph_DMA1,
.irq =
{
.handler = PIOS_SPI_port_irq_handler,
.handler = NULL,
.flags = (DMA1_FLAG_TC2 | DMA1_FLAG_TE2 | DMA1_FLAG_HT2 | DMA1_FLAG_GL2),
.init = {
.NVIC_IRQChannel = DMA1_Channel2_IRQn,
@ -189,11 +189,11 @@ void PIOS_SPI_port_irq_handler(void)
extern void PIOS_ADC_handler(void);
void DMA1_Channel1_IRQHandler() __attribute__ ((alias("PIOS_ADC_handler")));
// Remap the ADC DMA handler to this one
const struct pios_adc_cfg pios_adc_cfg = {
static const struct pios_adc_cfg pios_adc_cfg = {
.dma = {
.ahb_clk = RCC_AHBPeriph_DMA1,
.irq = {
.handler = PIOS_ADC_DMA_Handler,
.handler = NULL,
.flags = (DMA1_FLAG_TC1 | DMA1_FLAG_TE1 | DMA1_FLAG_HT1 | DMA1_FLAG_GL1),
.init = {
.NVIC_IRQChannel = DMA1_Channel1_IRQn,
@ -245,10 +245,7 @@ void PIOS_ADC_handler() {
/*
* SERIAL USART
*/
void PIOS_USART_serial_irq_handler(void);
void USART1_IRQHandler() __attribute__ ((alias ("PIOS_USART_serial_irq_handler")));
const struct pios_usart_cfg pios_usart_serial_cfg =
static const struct pios_usart_cfg pios_usart_serial_cfg =
{
.regs = USART1,
.init =
@ -262,7 +259,7 @@ const struct pios_usart_cfg pios_usart_serial_cfg =
},
.irq =
{
.handler = PIOS_USART_serial_irq_handler,
.handler = NULL,
.init =
{
.NVIC_IRQChannel = USART1_IRQn,
@ -293,12 +290,6 @@ const struct pios_usart_cfg pios_usart_serial_cfg =
},
};
static uint32_t pios_usart_serial_id;
void PIOS_USART_serial_irq_handler(void)
{
PIOS_USART_IRQ_Handler(pios_usart_serial_id);
}
#endif /* PIOS_INCLUDE_USART */
// ***********************************************************************************
@ -334,6 +325,7 @@ void PIOS_Board_Init(void) {
// Delay system
PIOS_DELAY_Init();
uint32_t pios_usart_serial_id;
if (PIOS_USART_Init(&pios_usart_serial_id, &pios_usart_serial_cfg)) {
PIOS_DEBUG_Assert(0);
}