diff --git a/flight/board_hw_defs/revolution/board_hw_defs.c b/flight/board_hw_defs/revolution/board_hw_defs.c new file mode 100644 index 000000000..564955602 --- /dev/null +++ b/flight/board_hw_defs/revolution/board_hw_defs.c @@ -0,0 +1,1420 @@ +/** + ****************************************************************************** + * @addtogroup OpenPilotSystem OpenPilot System + * @{ + * @addtogroup OpenPilotCore OpenPilot Core + * @{ + * + * @file board_hw_defs.c + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012. + * @brief Defines board specific static initializers for hardware for the OpenPilot board. + * @see The GNU Public License (GPL) Version 3 + * + *****************************************************************************/ +/* + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY + * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License + * for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + */ +#include + +#if defined(PIOS_INCLUDE_LED) + +#include +static const struct pios_led pios_leds[] = { + [PIOS_LED_HEARTBEAT] = { + .pin = { + .gpio = GPIOE, + .init = { + .GPIO_Pin = GPIO_Pin_2, + .GPIO_Speed = GPIO_Speed_50MHz, + .GPIO_Mode = GPIO_Mode_OUT, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_UP + }, + }, + }, + [PIOS_LED_ALARM] = { + .pin = { + .gpio = GPIOE, + .init = { + .GPIO_Pin = GPIO_Pin_3, + .GPIO_Speed = GPIO_Speed_50MHz, + .GPIO_Mode = GPIO_Mode_OUT, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_UP + }, + }, + }, +}; + +static const struct pios_led_cfg pios_led_cfg = { + .leds = pios_leds, + .num_leds = NELEMENTS(pios_leds), +}; + +#endif /* PIOS_INCLUDE_LED */ + +#if defined(PIOS_INCLUDE_SPI) +#include +/* SPI1 Interface + * - Used for BMA180 accelerometer + */ +void PIOS_SPI_accel_irq_handler(void); +void DMA2_Stream0_IRQHandler(void) __attribute__((alias("PIOS_SPI_accel_irq_handler"))); +void DMA2_Stream3_IRQHandler(void) __attribute__((alias("PIOS_SPI_accel_irq_handler"))); +static const struct pios_spi_cfg pios_spi_accel_cfg = { + .regs = SPI1, + .remap = GPIO_AF_SPI1, + .init = { + .SPI_Mode = SPI_Mode_Master, + .SPI_Direction = SPI_Direction_2Lines_FullDuplex, + .SPI_DataSize = SPI_DataSize_8b, + .SPI_NSS = SPI_NSS_Soft, + .SPI_FirstBit = SPI_FirstBit_MSB, + .SPI_CRCPolynomial = 7, + .SPI_CPOL = SPI_CPOL_High, + .SPI_CPHA = SPI_CPHA_2Edge, + .SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_16, + }, + .use_crc = false, + .dma = { + .irq = { + .flags = (DMA_IT_TCIF0 | DMA_IT_TEIF0 | DMA_IT_HTIF0), + .init = { + .NVIC_IRQChannel = DMA2_Stream0_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, + + .rx = { + .channel = DMA2_Stream0, + .init = { + .DMA_Channel = DMA_Channel_3, + .DMA_PeripheralBaseAddr = (uint32_t)&(SPI1->DR), + .DMA_DIR = DMA_DIR_PeripheralToMemory, + .DMA_PeripheralInc = DMA_PeripheralInc_Disable, + .DMA_MemoryInc = DMA_MemoryInc_Enable, + .DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte, + .DMA_MemoryDataSize = DMA_MemoryDataSize_Byte, + .DMA_Mode = DMA_Mode_Normal, + .DMA_Priority = DMA_Priority_Medium, + .DMA_FIFOMode = DMA_FIFOMode_Disable, + /* .DMA_FIFOThreshold */ + .DMA_MemoryBurst = DMA_MemoryBurst_Single, + .DMA_PeripheralBurst = DMA_PeripheralBurst_Single, + }, + }, + .tx = { + .channel = DMA2_Stream3, + .init = { + .DMA_Channel = DMA_Channel_3, + .DMA_PeripheralBaseAddr = (uint32_t)&(SPI1->DR), + .DMA_DIR = DMA_DIR_MemoryToPeripheral, + .DMA_PeripheralInc = DMA_PeripheralInc_Disable, + .DMA_MemoryInc = DMA_MemoryInc_Enable, + .DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte, + .DMA_MemoryDataSize = DMA_MemoryDataSize_Byte, + .DMA_Mode = DMA_Mode_Normal, + .DMA_Priority = DMA_Priority_High, + .DMA_FIFOMode = DMA_FIFOMode_Disable, + /* .DMA_FIFOThreshold */ + .DMA_MemoryBurst = DMA_MemoryBurst_Single, + .DMA_PeripheralBurst = DMA_PeripheralBurst_Single, + }, + }, + }, + .sclk = { + .gpio = GPIOA, + .init = { + .GPIO_Pin = GPIO_Pin_5, + .GPIO_Speed = GPIO_Speed_100MHz, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_UP + }, + }, + .miso = { + .gpio = GPIOA, + .init = { + .GPIO_Pin = GPIO_Pin_6, + .GPIO_Speed = GPIO_Speed_50MHz, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_UP + }, + }, + .mosi = { + .gpio = GPIOA, + .init = { + .GPIO_Pin = GPIO_Pin_7, + .GPIO_Speed = GPIO_Speed_50MHz, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_UP + }, + }, + .slave_count = 2, + .ssel = { { + .gpio = GPIOA, + .init = { + .GPIO_Pin = GPIO_Pin_4, + .GPIO_Speed = GPIO_Speed_50MHz, + .GPIO_Mode = GPIO_Mode_OUT, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_UP + } }, + { + .gpio = GPIOC, + .init = { + .GPIO_Pin = GPIO_Pin_5, + .GPIO_Speed = GPIO_Speed_50MHz, + .GPIO_Mode = GPIO_Mode_OUT, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_UP + } }, + } +}; + +static uint32_t pios_spi_accel_id; +void PIOS_SPI_accel_irq_handler(void) +{ + /* Call into the generic code to handle the IRQ for this specific device */ + PIOS_SPI_IRQ_Handler(pios_spi_accel_id); +} + + +/* SPI2 Interface + * - Used for gyro communications + */ +void PIOS_SPI_GYRO_irq_handler(void); +void DMA1_Stream3_IRQHandler(void) __attribute__((alias("PIOS_SPI_gyro_irq_handler"))); +void DMA1_Stream4_IRQHandler(void) __attribute__((alias("PIOS_SPI_gyro_irq_handler"))); +static const struct pios_spi_cfg pios_spi_gyro_cfg = { + .regs = SPI2, + .remap = GPIO_AF_SPI2, + .init = { + .SPI_Mode = SPI_Mode_Master, + .SPI_Direction = SPI_Direction_2Lines_FullDuplex, + .SPI_DataSize = SPI_DataSize_8b, + .SPI_NSS = SPI_NSS_Soft, + .SPI_FirstBit = SPI_FirstBit_MSB, + .SPI_CRCPolynomial = 7, + .SPI_CPOL = SPI_CPOL_High, + .SPI_CPHA = SPI_CPHA_2Edge, + .SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_8, + }, + .use_crc = false, + .dma = { + .irq = { + // Note this is the stream ID that triggers interrupts (in this case RX) + .flags = (DMA_IT_TCIF3 | DMA_IT_TEIF3 | DMA_IT_HTIF3), + .init = { + .NVIC_IRQChannel = DMA1_Stream3_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, + + .rx = { + .channel = DMA1_Stream3, + .init = { + .DMA_Channel = DMA_Channel_0, + .DMA_PeripheralBaseAddr = (uint32_t) & (SPI2->DR), + .DMA_DIR = DMA_DIR_PeripheralToMemory, + .DMA_PeripheralInc = DMA_PeripheralInc_Disable, + .DMA_MemoryInc = DMA_MemoryInc_Enable, + .DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte, + .DMA_MemoryDataSize = DMA_MemoryDataSize_Byte, + .DMA_Mode = DMA_Mode_Normal, + .DMA_Priority = DMA_Priority_Medium, + //TODO: Enable FIFO + .DMA_FIFOMode = DMA_FIFOMode_Disable, + .DMA_FIFOThreshold = DMA_FIFOThreshold_Full, + .DMA_MemoryBurst = DMA_MemoryBurst_Single, + .DMA_PeripheralBurst = DMA_PeripheralBurst_Single, + }, + }, + .tx = { + .channel = DMA1_Stream4, + .init = { + .DMA_Channel = DMA_Channel_0, + .DMA_PeripheralBaseAddr = (uint32_t) & (SPI2->DR), + .DMA_DIR = DMA_DIR_MemoryToPeripheral, + .DMA_PeripheralInc = DMA_PeripheralInc_Disable, + .DMA_MemoryInc = DMA_MemoryInc_Enable, + .DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte, + .DMA_MemoryDataSize = DMA_MemoryDataSize_Byte, + .DMA_Mode = DMA_Mode_Normal, + .DMA_Priority = DMA_Priority_Medium, + .DMA_FIFOMode = DMA_FIFOMode_Disable, + .DMA_FIFOThreshold = DMA_FIFOThreshold_Full, + .DMA_MemoryBurst = DMA_MemoryBurst_Single, + .DMA_PeripheralBurst = DMA_PeripheralBurst_Single, + }, + }, + }, + .sclk = { + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_13, + .GPIO_Speed = GPIO_Speed_100MHz, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_NOPULL + }, + }, + .miso = { + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_14, + .GPIO_Speed = GPIO_Speed_50MHz, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_NOPULL + }, + }, + .mosi = { + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_15, + .GPIO_Speed = GPIO_Speed_50MHz, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_NOPULL + }, + }, + .slave_count = 1, + .ssel = { { + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_12, + .GPIO_Speed = GPIO_Speed_50MHz, + .GPIO_Mode = GPIO_Mode_OUT, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_UP + }, + } }, +}; + +uint32_t pios_spi_gyro_id; +void PIOS_SPI_gyro_irq_handler(void) +{ + /* Call into the generic code to handle the IRQ for this specific device */ + PIOS_SPI_IRQ_Handler(pios_spi_gyro_id); +} + + +#if !defined(PIOS_FLASH_ON_ACCEL) +/* SPI3 Interface + * - Used for flash communications + */ +void PIOS_SPI_flash_irq_handler(void); +void DMA1_Stream0_IRQHandler(void) __attribute__((alias("PIOS_SPI_flash_irq_handler"))); +void DMA1_Stream2_IRQHandler(void) __attribute__((alias("PIOS_SPI_flash_irq_handler"))); +static const struct pios_spi_cfg pios_spi_flash_cfg = { + .regs = SPI3, + .remap = GPIO_AF_SPI3, + .init = { + .SPI_Mode = SPI_Mode_Master, + .SPI_Direction = SPI_Direction_2Lines_FullDuplex, + .SPI_DataSize = SPI_DataSize_8b, + .SPI_NSS = SPI_NSS_Soft, + .SPI_FirstBit = SPI_FirstBit_MSB, + .SPI_CRCPolynomial = 7, + .SPI_CPOL = SPI_CPOL_High, + .SPI_CPHA = SPI_CPHA_2Edge, + .SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_2, + }, + .use_crc = false, + .dma = { + .irq = { + // Note this is the stream ID that triggers interrupts (in this case RX) + .flags = (DMA_IT_TCIF3 | DMA_IT_TEIF3 | DMA_IT_HTIF3), + .init = { + .NVIC_IRQChannel = DMA1_Stream0_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, + + .rx = { + .channel = DMA1_Stream0, + .init = { + .DMA_Channel = DMA_Channel_0, + .DMA_PeripheralBaseAddr = (uint32_t) & (SPI3->DR), + .DMA_DIR = DMA_DIR_PeripheralToMemory, + .DMA_PeripheralInc = DMA_PeripheralInc_Disable, + .DMA_MemoryInc = DMA_MemoryInc_Enable, + .DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte, + .DMA_MemoryDataSize = DMA_MemoryDataSize_Byte, + .DMA_Mode = DMA_Mode_Normal, + .DMA_Priority = DMA_Priority_Medium, + //TODO: Enable FIFO + .DMA_FIFOMode = DMA_FIFOMode_Disable, + .DMA_FIFOThreshold = DMA_FIFOThreshold_Full, + .DMA_MemoryBurst = DMA_MemoryBurst_Single, + .DMA_PeripheralBurst = DMA_PeripheralBurst_Single, + }, + }, + .tx = { + .channel = DMA1_Stream2, + .init = { + .DMA_Channel = DMA_Channel_0, + .DMA_PeripheralBaseAddr = (uint32_t) & (SPI3->DR), + .DMA_DIR = DMA_DIR_MemoryToPeripheral, + .DMA_PeripheralInc = DMA_PeripheralInc_Disable, + .DMA_MemoryInc = DMA_MemoryInc_Enable, + .DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte, + .DMA_MemoryDataSize = DMA_MemoryDataSize_Byte, + .DMA_Mode = DMA_Mode_Normal, + .DMA_Priority = DMA_Priority_Medium, + .DMA_FIFOMode = DMA_FIFOMode_Disable, + .DMA_FIFOThreshold = DMA_FIFOThreshold_Full, + .DMA_MemoryBurst = DMA_MemoryBurst_Single, + .DMA_PeripheralBurst = DMA_PeripheralBurst_Single, + }, + }, + }, + .sclk = { + .gpio = GPIOC, + .init = { + .GPIO_Pin = GPIO_Pin_10, + .GPIO_Speed = GPIO_Speed_100MHz, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_NOPULL + }, + }, + .miso = { + .gpio = GPIOC, + .init = { + .GPIO_Pin = GPIO_Pin_11, + .GPIO_Speed = GPIO_Speed_50MHz, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_NOPULL + }, + }, + .mosi = { + .gpio = GPIOC, + .init = { + .GPIO_Pin = GPIO_Pin_12, + .GPIO_Speed = GPIO_Speed_50MHz, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_NOPULL + }, + }, + .slave_count = 1, + .ssel = { { + .gpio = GPIOD, + .init = { + .GPIO_Pin = GPIO_Pin_2, + .GPIO_Speed = GPIO_Speed_50MHz, + .GPIO_Mode = GPIO_Mode_OUT, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_UP + }, + } }, +}; + +uint32_t pios_spi_flash_id; +void PIOS_SPI_flash_irq_handler(void) +{ + /* Call into the generic code to handle the IRQ for this specific device */ + PIOS_SPI_IRQ_Handler(pios_spi_flash_id); +} +#endif /* PIOS_FLASH_ON_ACCEL */ +#endif /* PIOS_INCLUDE_SPI */ + + + +#include + +#if defined(PIOS_INCLUDE_GPS) +/* + * GPS USART + */ +static const struct pios_usart_cfg pios_usart_gps_cfg = { + .regs = USART1, + .remap = GPIO_AF_USART1, + .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 = USART1_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, + .rx = { + .gpio = GPIOA, + .init = { + .GPIO_Pin = GPIO_Pin_10, + .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_9, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_UP + }, + }, +}; + +#define PIOS_COM_GPS_RX_BUF_LEN 192 + +#endif /* PIOS_INCLUDE_GPS */ + +#ifdef PIOS_INCLUDE_COM_AUX +/* + * AUX USART + */ +static const struct pios_usart_cfg pios_usart_aux_cfg = { + .regs = USART1, + .remap = GPIO_AF_USART1, + .init = { + .USART_BaudRate = 230400, + .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 = USART1_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, + .rx = { + .gpio = GPIOA, + .init = { + .GPIO_Pin = GPIO_Pin_10, + .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_9, + .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_TELEM +/* + * Telemetry on main USART + */ +static const struct pios_usart_cfg pios_usart_telem_main_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 + }, + }, +}; + +#define PIOS_COM_TELEM_RF_RX_BUF_LEN 512 +#define PIOS_COM_TELEM_RF_TX_BUF_LEN 512 + +#endif /* PIOS_COM_TELEM */ + +#if defined(PIOS_INCLUDE_DSM) +/* + * Spektrum/JR DSM USART + */ +#include + +static const struct pios_usart_cfg pios_usart_dsm_main_cfg = { + .regs = USART3, + .remap = GPIO_AF_USART3, + .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 = USART3_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, + .rx = { + .gpio = GPIOB, + .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 + }, + }, + .tx = { + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_10, + .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_main_cfg = { + .bind = { + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_11, + .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_flexi_cfg = { + .regs = USART3, + .remap = GPIO_AF_USART3, + .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 = USART3_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, + .rx = { + .gpio = GPIOB, + .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 + }, + }, + .tx = { + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_10, + .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_flexi_cfg = { + .bind = { + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_11, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_OUT, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_NOPULL + }, + }, +}; + + +#endif /* PIOS_INCLUDE_DSM */ + + +#if defined(PIOS_INCLUDE_COM) + +#include + +#endif /* PIOS_INCLUDE_COM */ + +#if defined(PIOS_INCLUDE_I2C) + +#include + +/* + * I2C Adapters + */ +void PIOS_I2C_mag_adapter_ev_irq_handler(void); +void PIOS_I2C_mag_adapter_er_irq_handler(void); +void I2C1_EV_IRQHandler() +__attribute__ ((alias("PIOS_I2C_mag_adapter_ev_irq_handler"))); +void I2C1_ER_IRQHandler() +__attribute__ ((alias("PIOS_I2C_mag_adapter_er_irq_handler"))); + +static const struct pios_i2c_adapter_cfg pios_i2c_mag_adapter_cfg = { + .regs = I2C1, + .remap = GPIO_AF_I2C1, + .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 = 400000, /* bits/s */ + }, + .transfer_timeout_ms = 50, + .scl = { + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_6, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_Speed = GPIO_Speed_50MHz, + .GPIO_OType = GPIO_OType_OD, + .GPIO_PuPd = GPIO_PuPd_NOPULL, + }, + }, + .sda = { + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_7, + .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 = I2C1_EV_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, + .error = { + .flags = 0, /* FIXME: check this */ + .init = { + .NVIC_IRQChannel = I2C1_ER_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, +}; + +uint32_t pios_i2c_mag_adapter_id; +void PIOS_I2C_mag_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); +} + +void PIOS_I2C_mag_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); +} + + +void PIOS_I2C_flexiport_adapter_ev_irq_handler(void); +void PIOS_I2C_flexiport_adapter_er_irq_handler(void); +void I2C2_EV_IRQHandler() __attribute__ ((alias ("PIOS_I2C_flexiport_adapter_ev_irq_handler"))); +void I2C2_ER_IRQHandler() __attribute__ ((alias ("PIOS_I2C_flexiport_adapter_er_irq_handler"))); + +static const struct pios_i2c_adapter_cfg pios_i2c_flexiport_adapter_cfg = { + .regs = I2C2, + .remap = GPIO_AF_I2C2, + .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 = 400000, /* bits/s */ + }, + .transfer_timeout_ms = 50, + .scl = { + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_10, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_Speed = GPIO_Speed_50MHz, + .GPIO_OType = GPIO_OType_OD, + .GPIO_PuPd = GPIO_PuPd_NOPULL, + }, + }, + .sda = { + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_11, + .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 = I2C2_EV_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, + .error = { + .flags = 0, /* FIXME: check this */ + .init = { + .NVIC_IRQChannel = I2C2_ER_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, +}; + +uint32_t pios_i2c_flexiport_adapter_id; +void PIOS_I2C_flexiport_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_flexiport_adapter_id); +} + +void PIOS_I2C_flexiport_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_flexiport_adapter_id); +} + + +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) +/* + * Realtime Clock (RTC) + */ +#include + +void PIOS_RTC_IRQ_Handler (void); +void RTC_WKUP_IRQHandler() __attribute__ ((alias ("PIOS_RTC_IRQ_Handler"))); +static const struct pios_rtc_cfg pios_rtc_main_cfg = { + .clksrc = RCC_RTCCLKSource_HSE_Div16, // Divide 8 Mhz crystal down to 1 + // For some reason it's acting like crystal is 16 Mhz. This clock is then divided + // by another 16 to give a nominal 62.5 khz clock + .prescaler = 100, // Every 100 cycles gives 625 Hz + .irq = { + .init = { + .NVIC_IRQChannel = RTC_WKUP_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, +}; + +void PIOS_RTC_IRQ_Handler (void) +{ + PIOS_RTC_irq_handler (); +} + +#endif + +#include "pios_tim_priv.h" + +static const TIM_TimeBaseInitTypeDef tim_3_5_9_10_11_time_base = { + .TIM_Prescaler = (PIOS_MASTER_CLOCK / 1000000) - 1, + .TIM_ClockDivision = TIM_CKD_DIV1, + .TIM_CounterMode = TIM_CounterMode_Up, + .TIM_Period = ((1000000 / PIOS_SERVO_UPDATE_HZ) - 1), + .TIM_RepetitionCounter = 0x0000, +}; + +static const struct pios_tim_clock_cfg tim_3_cfg = { + .timer = TIM3, + .time_base_init = &tim_3_5_9_10_11_time_base, + .irq = { + .init = { + .NVIC_IRQChannel = TIM3_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, +}; + +static const struct pios_tim_clock_cfg tim_5_cfg = { + .timer = TIM5, + .time_base_init = &tim_3_5_9_10_11_time_base, + .irq = { + .init = { + .NVIC_IRQChannel = TIM5_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, +}; + +static const struct pios_tim_clock_cfg tim_9_cfg = { + .timer = TIM9, + .time_base_init = &tim_3_5_9_10_11_time_base, + .irq = { + .init = { + .NVIC_IRQChannel = TIM1_BRK_TIM9_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, +}; + +static const struct pios_tim_clock_cfg tim_10_cfg = { + .timer = TIM10, + .time_base_init = &tim_3_5_9_10_11_time_base, + .irq = { + .init = { + .NVIC_IRQChannel = TIM1_UP_TIM10_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, +}; + +static const struct pios_tim_clock_cfg tim_11_cfg = { + .timer = TIM11, + .time_base_init = &tim_3_5_9_10_11_time_base, + .irq = { + .init = { + .NVIC_IRQChannel = TIM1_TRG_COM_TIM11_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, +}; + +// Set up timers that only have inputs +static const TIM_TimeBaseInitTypeDef tim_1_4_time_base = { + .TIM_Prescaler = (PIOS_MASTER_CLOCK / 1000000) - 1, + .TIM_ClockDivision = TIM_CKD_DIV1, + .TIM_CounterMode = TIM_CounterMode_Up, + .TIM_Period = 0xFFFF, + .TIM_RepetitionCounter = 0x0000, +}; + +static const struct pios_tim_clock_cfg tim_1_cfg = { + .timer = TIM1, + .time_base_init = &tim_1_4_time_base, + .irq = { + .init = { + .NVIC_IRQChannel = TIM1_CC_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, +}; + +static const struct pios_tim_clock_cfg tim_4_cfg = { + .timer = TIM4, + .time_base_init = &tim_1_4_time_base, + .irq = { + .init = { + .NVIC_IRQChannel = TIM4_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, +}; + +/** + * Pios servo configuration structures + */ +#include +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 = 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 = 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 = 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, + .pin = { + .gpio = GPIOB, + .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 + }, + .pin_source = GPIO_PinSource0, + }, + .remap = GPIO_AF_TIM3, + }, + { + .timer = TIM3, + .timer_chan = TIM_Channel_3, + .pin = { + .gpio = GPIOB, + .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_TIM3, + }, +}; + +const struct pios_servo_cfg pios_servo_cfg = { + .tim_oc_init = { + .TIM_OCMode = TIM_OCMode_PWM1, + .TIM_OutputState = TIM_OutputState_Enable, + .TIM_OutputNState = TIM_OutputNState_Disable, + .TIM_Pulse = PIOS_SERVOS_INITIAL_POSITION, + .TIM_OCPolarity = TIM_OCPolarity_High, + .TIM_OCNPolarity = TIM_OCPolarity_High, + .TIM_OCIdleState = TIM_OCIdleState_Reset, + .TIM_OCNIdleState = TIM_OCNIdleState_Reset, + }, + .channels = pios_tim_servoport_all_pins, + .num_channels = NELEMENTS(pios_tim_servoport_all_pins), +}; + + +/* + * PWM Inputs + */ +#if defined(PIOS_INCLUDE_PWM) || defined(PIOS_INCLUDE_PPM) +#include +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, + .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_PinSource1, + }, + .remap = GPIO_AF_TIM1, + }, +}; + +const struct pios_pwm_cfg pios_pwm_cfg = { + .tim_ic_init = { + .TIM_ICPolarity = TIM_ICPolarity_Rising, + .TIM_ICSelection = TIM_ICSelection_DirectTI, + .TIM_ICPrescaler = TIM_ICPSC_DIV1, + .TIM_ICFilter = 0x0, + }, + .channels = pios_tim_rcvrport_all_channels, + .num_channels = NELEMENTS(pios_tim_rcvrport_all_channels), +}; +#endif + +/* + * PPM Input + */ +#if defined(PIOS_INCLUDE_PPM) +#include +static const struct pios_ppm_cfg pios_ppm_cfg = { + .tim_ic_init = { + .TIM_ICPolarity = TIM_ICPolarity_Rising, + .TIM_ICSelection = TIM_ICSelection_DirectTI, + .TIM_ICPrescaler = TIM_ICPSC_DIV1, + .TIM_ICFilter = 0x0, + .TIM_Channel = TIM_Channel_2, + }, + /* Use only the first channel for ppm */ + .channels = &pios_tim_rcvrport_all_channels[0], + .num_channels = 1, +}; + +#endif //PPM + +#if defined(PIOS_INCLUDE_RCVR) +#include "pios_rcvr_priv.h" + +/* One slot per selectable receiver group. + * eg. PWM, PPM, GCS, SPEKTRUM1, SPEKTRUM2, SBUS + * NOTE: No slot in this map for NONE. + */ +uint32_t pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE]; +#endif + +extern const struct pios_com_driver pios_usart_com_driver; + +uint32_t pios_com_aux_id; +uint32_t pios_com_gps_id; +uint32_t pios_com_telem_usb_id; +uint32_t pios_com_telem_rf_id; +