mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-12-01 09:24:10 +01:00
Initial commit of AHRS project code base.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@212 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
gussy
gussy
parent
6f2dc98237
commit
fbb175e01c
559
flight/AHRS/Makefile
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559
flight/AHRS/Makefile
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#####
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# Project: OpenPilot AHRS
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#
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#
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# Makefile for OpenPilot AHRS project
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#
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# The OpenPilot Team, http://www.openpilot.org, Copyright (C) 2009.
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#
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#
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# This program is free software; you can redistribute it and/or modify
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# it under the terms of the GNU General Public License as published by
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# the Free Software Foundation; either version 3 of the License, or
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# (at your option) any later version.
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#
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# This program is distributed in the hope that it will be useful, but
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# WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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# or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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# for more details.
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#
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# You should have received a copy of the GNU General Public License along
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# with this program; if not, write to the Free Software Foundation, Inc.,
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# 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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#####
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# Set developer code and compile options
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# Set to YES for debugging
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DEBUG = YES
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# Set to YES when using Code Sourcery toolchain
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CODE_SOURCERY = YES
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# Toolchain prefix (i.e arm-elf- -> arm-elf-gcc.exe)
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TCHAIN_PREFIX = arm-none-eabi-
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ifeq ($(CODE_SOURCERY), YES)
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REMOVE_CMD = cs-rm
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else
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REMOVE_CMD = rm
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endif
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FLASH_TOOL = OPENOCD
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# YES enables -mthumb option to flags for source-files listed
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# in SRC and CPPSRC
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USE_THUMB_MODE = YES
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# MCU name, submodel and board
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# - MCU used for compiler-option (-mcpu)
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# - MODEL used for linker-script name (-T) and passed as define
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# - BOARD just passed as define (optional)
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MCU = cortex-m3
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CHIP = STM32F103CBT
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MODEL = MD
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BOARD = STM32103CB_AHRS
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# Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
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OUTDIR = Build
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# Target file name (without extension).
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TARGET = AHRS
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# Paths
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AHRS = ./
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AHRSINC = $(AHRS)/inc
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PIOS = ../PiOS
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PIOSINC = $(PIOS)/inc
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PIOSSTM32F10X = $(PIOS)/STM32F10x
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PIOSCOMMON = $(PIOS)/Common
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APPLIBDIR = ../Libraries
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STMLIBDIR = $(APPLIBDIR)
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STMSPDDIR = $(STMLIBDIR)/STM32F10x_StdPeriph_Driver
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STMUSBDIR = $(STMLIBDIR)/STM32_USB-FS-Device_Driver
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STMSPDSRCDIR = $(STMSPDDIR)/src
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STMSPDINCDIR = $(STMSPDDIR)/inc
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CMSISDIR = $(STMLIBDIR)/CMSIS/Core/CM3
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# List C source files here. (C dependencies are automatically generated.)
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# use file-extension c for "c-only"-files
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## AHRS:
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SRC = ahrs.c
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## PIOS Hardware (STM32F10x)
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SRC += $(PIOSSTM32F10X)/pios_sys.c
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SRC += $(PIOSSTM32F10X)/pios_led.c
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SRC += $(PIOSSTM32F10X)/pios_delay.c
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SRC += $(PIOSSTM32F10X)/pios_usart.c
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SRC += $(PIOSSTM32F10X)/pios_irq.c
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SRC += $(PIOSSTM32F10X)/pios_adc.c
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SRC += $(PIOSSTM32F10X)/pios_spi.c
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## PIOS Hardware (Common)
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SRC += $(PIOSCOMMON)/pios_com.c
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SRC += $(PIOSCOMMON)/printf-stdarg.c
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## CMSIS for STM32
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SRC += $(CMSISDIR)/core_cm3.c
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SRC += $(CMSISDIR)/system_stm32f10x.c
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## Used parts of the STM-Library
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SRC += $(STMSPDSRCDIR)/stm32f10x_adc.c
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SRC += $(STMSPDSRCDIR)/stm32f10x_bkp.c
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SRC += $(STMSPDSRCDIR)/stm32f10x_crc.c
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SRC += $(STMSPDSRCDIR)/stm32f10x_dac.c
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SRC += $(STMSPDSRCDIR)/stm32f10x_dma.c
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SRC += $(STMSPDSRCDIR)/stm32f10x_exti.c
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SRC += $(STMSPDSRCDIR)/stm32f10x_flash.c
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SRC += $(STMSPDSRCDIR)/stm32f10x_gpio.c
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SRC += $(STMSPDSRCDIR)/stm32f10x_i2c.c
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SRC += $(STMSPDSRCDIR)/stm32f10x_pwr.c
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SRC += $(STMSPDSRCDIR)/stm32f10x_rcc.c
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SRC += $(STMSPDSRCDIR)/stm32f10x_rtc.c
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SRC += $(STMSPDSRCDIR)/stm32f10x_spi.c
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SRC += $(STMSPDSRCDIR)/stm32f10x_tim.c
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SRC += $(STMSPDSRCDIR)/stm32f10x_usart.c
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SRC += $(STMSPDSRCDIR)/misc.c
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# List C source files here which must be compiled in ARM-Mode (no -mthumb).
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# use file-extension c for "c-only"-files
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## just for testing, timer.c could be compiled in thumb-mode too
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SRCARM =
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# List C++ source files here.
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# use file-extension .cpp for C++-files (not .C)
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CPPSRC =
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# List C++ source files here which must be compiled in ARM-Mode.
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# use file-extension .cpp for C++-files (not .C)
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#CPPSRCARM = $(TARGET).cpp
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CPPSRCARM =
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# List Assembler source files here.
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# Make them always end in a capital .S. Files ending in a lowercase .s
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# will not be considered source files but generated files (assembler
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# output from the compiler), and will be deleted upon "make clean"!
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# Even though the DOS/Win* filesystem matches both .s and .S the same,
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# it will preserve the spelling of the filenames, and gcc itself does
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# care about how the name is spelled on its command-line.
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ASRC = $(PIOSSTM32F10X)/startup_stm32f10x_$(MODEL).S
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# List Assembler source files here which must be assembled in ARM-Mode..
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ASRCARM =
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# List any extra directories to look for include files here.
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# Each directory must be seperated by a space.
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EXTRAINCDIRS += $(PIOS)
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EXTRAINCDIRS += $(PIOSINC)
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EXTRAINCDIRS += $(PIOSSTM32F10X)
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EXTRAINCDIRS += $(PIOSCOMMON)
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EXTRAINCDIRS += $(STMSPDINCDIR)
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EXTRAINCDIRS += $(CMSISDIR)
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EXTRAINCDIRS += $(AHRSINC)
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# List any extra directories to look for library files here.
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# Also add directories where the linker should search for
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# includes from linker-script to the list
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# Each directory must be seperated by a space.
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EXTRA_LIBDIRS =
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# Extra Libraries
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# Each library-name must be seperated by a space.
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# i.e. to link with libxyz.a, libabc.a and libefsl.a:
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# EXTRA_LIBS = xyz abc efsl
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# for newlib-lpc (file: libnewlibc-lpc.a):
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# EXTRA_LIBS = newlib-lpc
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EXTRA_LIBS =
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# Path to Linker-Scripts
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LINKERSCRIPTPATH = $(PIOSSTM32F10X)
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# Optimization level, can be [0, 1, 2, 3, s].
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# 0 = turn off optimization. s = optimize for size.
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# (Note: 3 is not always the best optimization level. See avr-libc FAQ.)
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ifeq ($(DEBUG),YES)
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OPT = 0
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else
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OPT = s
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endif
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# Output format. (can be ihex or binary or both)
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# binary to create a load-image in raw-binary format i.e. for SAM-BA,
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# ihex to create a load-image in Intel hex format
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#LOADFORMAT = ihex
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#LOADFORMAT = binary
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LOADFORMAT = both
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# Debugging format.
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DEBUGF = dwarf-2
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# Place project-specific -D (define) and/or
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# -U options for C here.
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CDEFS = -DSTM32F10X_$(MODEL)
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CDEFS += -DUSE_STDPERIPH_DRIVER
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CDEFS += -DUSE_$(BOARD)
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# Place project-specific -D and/or -U options for
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# Assembler with preprocessor here.
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#ADEFS = -DUSE_IRQ_ASM_WRAPPER
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ADEFS = -D__ASSEMBLY__
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# Compiler flag to set the C Standard level.
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# c89 - "ANSI" C
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# gnu89 - c89 plus GCC extensions
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# c99 - ISO C99 standard (not yet fully implemented)
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# gnu99 - c99 plus GCC extensions
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CSTANDARD = -std=gnu99
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#-----
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# Compiler flags.
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# -g*: generate debugging information
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# -O*: optimization level
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# -f...: tuning, see GCC manual and avr-libc documentation
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# -Wall...: warning level
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# -Wa,...: tell GCC to pass this to the assembler.
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# -adhlns...: create assembler listing
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#
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# Flags for C and C++ (arm-elf-gcc/arm-elf-g++)
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ifeq ($(DEBUG),YES)
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CFLAGS = -g$(DEBUGF)
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endif
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CFLAGS += -O$(OPT)
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CFLAGS += -mcpu=$(MCU) -mthumb
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CFLAGS += $(CDEFS)
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CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS)) -I.
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CFLAGS += -mapcs-frame
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|
CFLAGS += -fomit-frame-pointer
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||||||
|
ifeq ($(CODE_SOURCERY), YES)
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||||||
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CFLAGS += -fpromote-loop-indices
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endif
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CFLAGS += -Wall
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|
CFLAGS += -Wa,-adhlns=$(addprefix $(OUTDIR)/, $(notdir $(addsuffix .lst, $(basename $<))))
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|
# Compiler flags to generate dependency files:
|
||||||
|
CFLAGS += -MD -MP -MF $(OUTDIR)/dep/$(@F).d
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||||||
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|
||||||
|
# flags only for C
|
||||||
|
#CONLYFLAGS += -Wnested-externs
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||||||
|
CONLYFLAGS += $(CSTANDARD)
|
||||||
|
|
||||||
|
# Assembler flags.
|
||||||
|
# -Wa,...: tell GCC to pass this to the assembler.
|
||||||
|
# -ahlns: create listing
|
||||||
|
ASFLAGS = -mcpu=$(MCU) -mthumb -I. -x assembler-with-cpp
|
||||||
|
ASFLAGS += $(ADEFS)
|
||||||
|
ASFLAGS += -Wa,-adhlns=$(addprefix $(OUTDIR)/, $(notdir $(addsuffix .lst, $(basename $<))))
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||||||
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ASFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS))
|
||||||
|
|
||||||
|
MATH_LIB = -lm
|
||||||
|
|
||||||
|
# Linker flags.
|
||||||
|
# -Wl,...: tell GCC to pass this to linker.
|
||||||
|
# -Map: create map file
|
||||||
|
# --cref: add cross reference to map file
|
||||||
|
LDFLAGS = -nostartfiles -Wl,-Map=$(OUTDIR)/$(TARGET).map,--cref,--gc-sections
|
||||||
|
LDFLAGS += $(patsubst %,-L%,$(EXTRA_LIBDIRS))
|
||||||
|
LDFLAGS += -lc
|
||||||
|
LDFLAGS += $(patsubst %,-l%,$(EXTRA_LIBS))
|
||||||
|
LDFLAGS += $(MATH_LIB)
|
||||||
|
LDFLAGS += -lc -lgcc
|
||||||
|
|
||||||
|
# Set linker-script name depending on selected submodel name
|
||||||
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LDFLAGS +=-T$(LINKERSCRIPTPATH)/link_stm32f10x_$(MODEL).ld
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||||||
|
|
||||||
|
# ---------------------------------------------------------------------------
|
||||||
|
# Options for OpenOCD flash-programming
|
||||||
|
# see openocd.pdf/openocd.texi for further information
|
||||||
|
#
|
||||||
|
OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).elf
|
||||||
|
# if OpenOCD is in the $PATH just set OPENOCDEXE=openocd
|
||||||
|
OOCD_EXE=openocd
|
||||||
|
# debug level
|
||||||
|
OOCD_CL=-d0
|
||||||
|
# interface and board/target settings (using the OOCD target-library here)
|
||||||
|
OOCD_CL+=-f project/OpenOCD/floss-jtag.cfg -f project/OpenOCD/stm32.cfg
|
||||||
|
# initialize
|
||||||
|
OOCD_CL+=-c init
|
||||||
|
# show the targets
|
||||||
|
OOCD_CL+=-c targets
|
||||||
|
# commands to prepare flash-write
|
||||||
|
OOCD_CL+= -c "reset halt"
|
||||||
|
# flash erase
|
||||||
|
OOCD_CL+=-c "stm32x mass_erase 0"
|
||||||
|
# flash-write
|
||||||
|
OOCD_CL+=-c "flash write_image $(OOCD_LOADFILE)"
|
||||||
|
# Verify
|
||||||
|
OOCD_CL+=-c "verify_image $(OOCD_LOADFILE)"
|
||||||
|
# reset target
|
||||||
|
OOCD_CL+=-c "reset run"
|
||||||
|
# terminate OOCD after programming
|
||||||
|
OOCD_CL+=-c shutdown
|
||||||
|
# ---------------------------------------------------------------------------
|
||||||
|
|
||||||
|
|
||||||
|
# Define programs and commands.
|
||||||
|
CC = $(TCHAIN_PREFIX)gcc
|
||||||
|
CPP = $(TCHAIN_PREFIX)g++
|
||||||
|
AR = $(TCHAIN_PREFIX)ar
|
||||||
|
OBJCOPY = $(TCHAIN_PREFIX)objcopy
|
||||||
|
OBJDUMP = $(TCHAIN_PREFIX)objdump
|
||||||
|
SIZE = $(TCHAIN_PREFIX)size
|
||||||
|
NM = $(TCHAIN_PREFIX)nm
|
||||||
|
REMOVE = $(REMOVE_CMD) -f
|
||||||
|
###SHELL = sh
|
||||||
|
###COPY = cp
|
||||||
|
|
||||||
|
|
||||||
|
# Define Messages
|
||||||
|
# English
|
||||||
|
MSG_ERRORS_NONE = Errors: none
|
||||||
|
MSG_BEGIN = "-------- begin (mode: $(RUN_MODE)) --------"
|
||||||
|
MSG_END = -------- end --------
|
||||||
|
MSG_SIZE_BEFORE = Size before:
|
||||||
|
MSG_SIZE_AFTER = Size after build:
|
||||||
|
MSG_LOAD_FILE = Creating load file:
|
||||||
|
MSG_EXTENDED_LISTING = Creating Extended Listing/Disassembly:
|
||||||
|
MSG_SYMBOL_TABLE = Creating Symbol Table:
|
||||||
|
MSG_LINKING = "**** Linking :"
|
||||||
|
MSG_COMPILING = "**** Compiling C :"
|
||||||
|
MSG_COMPILING_ARM = "**** Compiling C (ARM-only):"
|
||||||
|
MSG_COMPILINGCPP = "Compiling C++ :"
|
||||||
|
MSG_COMPILINGCPP_ARM = "Compiling C++ (ARM-only):"
|
||||||
|
MSG_ASSEMBLING = "**** Assembling:"
|
||||||
|
MSG_ASSEMBLING_ARM = "****Assembling (ARM-only):"
|
||||||
|
MSG_CLEANING = Cleaning project:
|
||||||
|
MSG_FORMATERROR = Can not handle output-format
|
||||||
|
MSG_ASMFROMC = "Creating asm-File from C-Source:"
|
||||||
|
MSG_ASMFROMC_ARM = "Creating asm-File from C-Source (ARM-only):"
|
||||||
|
|
||||||
|
# List of all source files.
|
||||||
|
ALLSRC = $(ASRCARM) $(ASRC) $(SRCARM) $(SRC) $(CPPSRCARM) $(CPPSRC)
|
||||||
|
# List of all source files without directory and file-extension.
|
||||||
|
ALLSRCBASE = $(notdir $(basename $(ALLSRC)))
|
||||||
|
|
||||||
|
# Define all object files.
|
||||||
|
ALLOBJ = $(addprefix $(OUTDIR)/, $(addsuffix .o, $(ALLSRCBASE)))
|
||||||
|
|
||||||
|
# Define all listing files (used for make clean).
|
||||||
|
LSTFILES = $(addprefix $(OUTDIR)/, $(addsuffix .lst, $(ALLSRCBASE)))
|
||||||
|
# Define all depedency-files (used for make clean).
|
||||||
|
DEPFILES = $(addprefix $(OUTDIR)/dep/, $(addsuffix .o.d, $(ALLSRCBASE)))
|
||||||
|
|
||||||
|
elf: $(OUTDIR)/$(TARGET).elf
|
||||||
|
lss: $(OUTDIR)/$(TARGET).lss
|
||||||
|
sym: $(OUTDIR)/$(TARGET).sym
|
||||||
|
hex: $(OUTDIR)/$(TARGET).hex
|
||||||
|
bin: $(OUTDIR)/$(TARGET).bin
|
||||||
|
|
||||||
|
# Default target.
|
||||||
|
#all: begin gccversion sizebefore build sizeafter finished end
|
||||||
|
all: begin gccversion build sizeafter finished end
|
||||||
|
|
||||||
|
ifeq ($(LOADFORMAT),ihex)
|
||||||
|
build: elf hex lss sym
|
||||||
|
else
|
||||||
|
ifeq ($(LOADFORMAT),binary)
|
||||||
|
build: elf bin lss sym
|
||||||
|
else
|
||||||
|
ifeq ($(LOADFORMAT),both)
|
||||||
|
build: elf hex bin lss sym
|
||||||
|
else
|
||||||
|
$(error "$(MSG_FORMATERROR) $(FORMAT)")
|
||||||
|
endif
|
||||||
|
endif
|
||||||
|
endif
|
||||||
|
|
||||||
|
|
||||||
|
# Eye candy.
|
||||||
|
begin:
|
||||||
|
## @echo
|
||||||
|
@echo $(MSG_BEGIN)
|
||||||
|
|
||||||
|
finished:
|
||||||
|
## @echo $(MSG_ERRORS_NONE)
|
||||||
|
|
||||||
|
end:
|
||||||
|
@echo $(MSG_END)
|
||||||
|
## @echo
|
||||||
|
|
||||||
|
# Display sizes of sections.
|
||||||
|
ELFSIZE = $(SIZE) -A $(OUTDIR)/$(TARGET).elf
|
||||||
|
##ELFSIZE = $(SIZE) --format=Berkeley --common $(OUTDIR)/$(TARGET).elf
|
||||||
|
sizebefore:
|
||||||
|
# @if [ -f $(OUTDIR)/$(TARGET).elf ]; then echo; echo $(MSG_SIZE_BEFORE); $(ELFSIZE); echo; fi
|
||||||
|
|
||||||
|
sizeafter:
|
||||||
|
# @if [ -f $(OUTDIR)/$(TARGET).elf ]; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); echo; fi
|
||||||
|
@echo $(MSG_SIZE_AFTER)
|
||||||
|
$(ELFSIZE)
|
||||||
|
|
||||||
|
# Display compiler version information.
|
||||||
|
gccversion :
|
||||||
|
@$(CC) --version
|
||||||
|
# @echo $(ALLOBJ)
|
||||||
|
|
||||||
|
# Program the device.
|
||||||
|
ifeq ($(FLASH_TOOL),OPENOCD)
|
||||||
|
# Program the device with Dominic Rath's OPENOCD in "batch-mode", needs cfg and "reset-script".
|
||||||
|
program: $(OUTDIR)/$(TARGET).elf
|
||||||
|
@echo "Programming with OPENOCD"
|
||||||
|
$(OOCD_EXE) $(OOCD_CL)
|
||||||
|
endif
|
||||||
|
|
||||||
|
# Create final output file (.hex) from ELF output file.
|
||||||
|
%.hex: %.elf
|
||||||
|
## @echo
|
||||||
|
@echo $(MSG_LOAD_FILE) $@
|
||||||
|
$(OBJCOPY) -O ihex $< $@
|
||||||
|
|
||||||
|
# Create final output file (.bin) from ELF output file.
|
||||||
|
%.bin: %.elf
|
||||||
|
## @echo
|
||||||
|
@echo $(MSG_LOAD_FILE) $@
|
||||||
|
$(OBJCOPY) -O binary $< $@
|
||||||
|
|
||||||
|
# Create extended listing file/disassambly from ELF output file.
|
||||||
|
# using objdump testing: option -C
|
||||||
|
%.lss: %.elf
|
||||||
|
## @echo
|
||||||
|
@echo $(MSG_EXTENDED_LISTING) $@
|
||||||
|
$(OBJDUMP) -h -S -C -r $< > $@
|
||||||
|
# $(OBJDUMP) -x -S $< > $@
|
||||||
|
|
||||||
|
# Create a symbol table from ELF output file.
|
||||||
|
%.sym: %.elf
|
||||||
|
## @echo
|
||||||
|
@echo $(MSG_SYMBOL_TABLE) $@
|
||||||
|
$(NM) -n $< > $@
|
||||||
|
|
||||||
|
# Link: create ELF output file from object files.
|
||||||
|
.SECONDARY : $(TARGET).elf
|
||||||
|
.PRECIOUS : $(ALLOBJ)
|
||||||
|
%.elf: $(ALLOBJ)
|
||||||
|
@echo
|
||||||
|
@echo $(MSG_LINKING) $@
|
||||||
|
# use $(CC) for C-only projects or $(CPP) for C++-projects:
|
||||||
|
$(CC) $(THUMB) $(CFLAGS) $(ALLOBJ) --output $@ $(LDFLAGS)
|
||||||
|
# $(CPP) $(THUMB) $(CFLAGS) $(ALLOBJ) --output $@ $(LDFLAGS)
|
||||||
|
|
||||||
|
|
||||||
|
# Assemble: create object files from assembler source files.
|
||||||
|
define ASSEMBLE_TEMPLATE
|
||||||
|
$(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
|
||||||
|
## @echo
|
||||||
|
@echo $(MSG_ASSEMBLING) $$< "->" $$@
|
||||||
|
$(CC) -c $(THUMB) $$(ASFLAGS) $$< -o $$@
|
||||||
|
endef
|
||||||
|
$(foreach src, $(ASRC), $(eval $(call ASSEMBLE_TEMPLATE, $(src))))
|
||||||
|
|
||||||
|
# Assemble: create object files from assembler source files. ARM-only
|
||||||
|
define ASSEMBLE_ARM_TEMPLATE
|
||||||
|
$(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
|
||||||
|
## @echo
|
||||||
|
@echo $(MSG_ASSEMBLING_ARM) $$< "->" $$@
|
||||||
|
$(CC) -c $$(ASFLAGS) $$< -o $$@
|
||||||
|
endef
|
||||||
|
$(foreach src, $(ASRCARM), $(eval $(call ASSEMBLE_ARM_TEMPLATE, $(src))))
|
||||||
|
|
||||||
|
|
||||||
|
# Compile: create object files from C source files.
|
||||||
|
define COMPILE_C_TEMPLATE
|
||||||
|
$(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
|
||||||
|
## @echo
|
||||||
|
@echo $(MSG_COMPILING) $$< "->" $$@
|
||||||
|
$(CC) -c $(THUMB) $$(CFLAGS) $$(CONLYFLAGS) $$< -o $$@
|
||||||
|
endef
|
||||||
|
$(foreach src, $(SRC), $(eval $(call COMPILE_C_TEMPLATE, $(src))))
|
||||||
|
|
||||||
|
# Compile: create object files from C source files. ARM-only
|
||||||
|
define COMPILE_C_ARM_TEMPLATE
|
||||||
|
$(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
|
||||||
|
## @echo
|
||||||
|
@echo $(MSG_COMPILING_ARM) $$< "->" $$@
|
||||||
|
$(CC) -c $$(CFLAGS) $$(CONLYFLAGS) $$< -o $$@
|
||||||
|
endef
|
||||||
|
$(foreach src, $(SRCARM), $(eval $(call COMPILE_C_ARM_TEMPLATE, $(src))))
|
||||||
|
|
||||||
|
|
||||||
|
# Compile: create object files from C++ source files.
|
||||||
|
define COMPILE_CPP_TEMPLATE
|
||||||
|
$(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
|
||||||
|
## @echo
|
||||||
|
@echo $(MSG_COMPILINGCPP) $$< "->" $$@
|
||||||
|
$(CC) -c $(THUMB) $$(CFLAGS) $$(CPPFLAGS) $$< -o $$@
|
||||||
|
endef
|
||||||
|
$(foreach src, $(CPPSRC), $(eval $(call COMPILE_CPP_TEMPLATE, $(src))))
|
||||||
|
|
||||||
|
# Compile: create object files from C++ source files. ARM-only
|
||||||
|
define COMPILE_CPP_ARM_TEMPLATE
|
||||||
|
$(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
|
||||||
|
## @echo
|
||||||
|
@echo $(MSG_COMPILINGCPP_ARM) $$< "->" $$@
|
||||||
|
$(CC) -c $$(CFLAGS) $$(CPPFLAGS) $$< -o $$@
|
||||||
|
endef
|
||||||
|
$(foreach src, $(CPPSRCARM), $(eval $(call COMPILE_CPP_ARM_TEMPLATE, $(src))))
|
||||||
|
|
||||||
|
|
||||||
|
# Compile: create assembler files from C source files. ARM/Thumb
|
||||||
|
$(SRC:.c=.s) : %.s : %.c
|
||||||
|
@echo $(MSG_ASMFROMC) $< to $@
|
||||||
|
$(CC) $(THUMB) -S $(CFLAGS) $(CONLYFLAGS) $< -o $@
|
||||||
|
|
||||||
|
# Compile: create assembler files from C source files. ARM only
|
||||||
|
$(SRCARM:.c=.s) : %.s : %.c
|
||||||
|
@echo $(MSG_ASMFROMC_ARM) $< to $@
|
||||||
|
$(CC) -S $(CFLAGS) $(CONLYFLAGS) $< -o $@
|
||||||
|
|
||||||
|
# Generate Doxygen documents
|
||||||
|
docs:
|
||||||
|
doxygen $(DOXYGENDIR)/doxygen.cfg
|
||||||
|
|
||||||
|
# Target: clean project.
|
||||||
|
clean: begin clean_list finished end
|
||||||
|
|
||||||
|
clean_list :
|
||||||
|
## @echo
|
||||||
|
@echo $(MSG_CLEANING)
|
||||||
|
$(REMOVE) $(OUTDIR)/$(TARGET).map
|
||||||
|
$(REMOVE) $(OUTDIR)/$(TARGET).elf
|
||||||
|
$(REMOVE) $(OUTDIR)/$(TARGET).hex
|
||||||
|
$(REMOVE) $(OUTDIR)/$(TARGET).bin
|
||||||
|
$(REMOVE) $(OUTDIR)/$(TARGET).sym
|
||||||
|
$(REMOVE) $(OUTDIR)/$(TARGET).lss
|
||||||
|
$(REMOVE) $(ALLOBJ)
|
||||||
|
$(REMOVE) $(LSTFILES)
|
||||||
|
$(REMOVE) $(DEPFILES)
|
||||||
|
$(REMOVE) $(SRC:.c=.s)
|
||||||
|
$(REMOVE) $(SRCARM:.c=.s)
|
||||||
|
$(REMOVE) $(CPPSRC:.cpp=.s)
|
||||||
|
$(REMOVE) $(CPPSRCARM:.cpp=.s)
|
||||||
|
|
||||||
|
|
||||||
|
# Create output files directory
|
||||||
|
# all known MS Windows OS define the ComSpec environment variable
|
||||||
|
ifdef ComSpec
|
||||||
|
$(shell md $(OUTDIR) 2>NUL)
|
||||||
|
else
|
||||||
|
$(shell mkdir $(OUTDIR) 2>/dev/null)
|
||||||
|
endif
|
||||||
|
|
||||||
|
# Include the dependency files.
|
||||||
|
ifdef ComSpec
|
||||||
|
-include $(shell md $(OUTDIR)\dep 2>NUL) $(wildcard $(OUTDIR)/dep/*)
|
||||||
|
else
|
||||||
|
-include $(shell mkdir $(OUTDIR) 2>/dev/null) $(shell mkdir $(OUTDIR)/dep 2>/dev/null) $(wildcard $(OUTDIR)/dep/*)
|
||||||
|
endif
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
# Listing of phony targets.
|
||||||
|
.PHONY : all begin finish end sizebefore sizeafter gccversion \
|
||||||
|
build elf hex bin lss sym clean clean_list program
|
||||||
|
|
||||||
59
flight/AHRS/ahrs.c
Normal file
59
flight/AHRS/ahrs.c
Normal file
@ -0,0 +1,59 @@
|
|||||||
|
/**
|
||||||
|
******************************************************************************
|
||||||
|
*
|
||||||
|
* @file ahrs.c
|
||||||
|
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||||
|
* @brief Main AHRS functions
|
||||||
|
* @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
|
||||||
|
*/
|
||||||
|
|
||||||
|
|
||||||
|
/* OpenPilot Includes */
|
||||||
|
#include "ahrs.h"
|
||||||
|
|
||||||
|
/* Global Variables */
|
||||||
|
|
||||||
|
/* Local Variables */
|
||||||
|
|
||||||
|
/* Function Prototypes */
|
||||||
|
|
||||||
|
/**
|
||||||
|
* OpenPilot Main function
|
||||||
|
*/
|
||||||
|
int main()
|
||||||
|
{
|
||||||
|
/* Brings up System using CMSIS functions, enables the LEDs. */
|
||||||
|
PIOS_SYS_Init();
|
||||||
|
|
||||||
|
/* Delay system */
|
||||||
|
PIOS_DELAY_Init();
|
||||||
|
|
||||||
|
/* Toggle LED's forever */
|
||||||
|
PIOS_LED_On(LED1);
|
||||||
|
PIOS_LED_On(LED2);
|
||||||
|
for(;;)
|
||||||
|
{
|
||||||
|
PIOS_LED_Toggle(LED2);
|
||||||
|
PIOS_DELAY_WaitmS(100);
|
||||||
|
}
|
||||||
|
|
||||||
|
/* If all is well we will never reach here as the scheduler will now be running. */
|
||||||
|
/* If we do get here, it will most likely be because we ran out of heap space. */
|
||||||
|
return 0;
|
||||||
|
}
|
||||||
34
flight/AHRS/inc/ahrs.h
Normal file
34
flight/AHRS/inc/ahrs.h
Normal file
@ -0,0 +1,34 @@
|
|||||||
|
/**
|
||||||
|
******************************************************************************
|
||||||
|
*
|
||||||
|
* @file ahrs.h
|
||||||
|
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||||
|
* @brief Main AHRS header.
|
||||||
|
* @see The GNU Public License (GPL) Version 3
|
||||||
|
*
|
||||||
|
*****************************************************************************/
|
||||||
|
/*
|
||||||
|
* This program is free software; you can redistribute it and/or modify
|
||||||
|
* it under the terms of the GNU General Public License as published by
|
||||||
|
* the Free Software Foundation; either version 3 of the License, or
|
||||||
|
* (at your option) any later version.
|
||||||
|
*
|
||||||
|
* This program is distributed in the hope that it will be useful, but
|
||||||
|
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
||||||
|
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||||||
|
* for more details.
|
||||||
|
*
|
||||||
|
* You should have received a copy of the GNU General Public License along
|
||||||
|
* with this program; if not, write to the Free Software Foundation, Inc.,
|
||||||
|
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||||
|
*/
|
||||||
|
|
||||||
|
|
||||||
|
#ifndef AHRS_H
|
||||||
|
#define AHRS_H
|
||||||
|
|
||||||
|
|
||||||
|
/* PIOS Includes */
|
||||||
|
#include <pios.h>
|
||||||
|
|
||||||
|
#endif /* AHRS_H */
|
||||||
271
flight/AHRS/inc/pios_board.h
Normal file
271
flight/AHRS/inc/pios_board.h
Normal file
@ -0,0 +1,271 @@
|
|||||||
|
/**
|
||||||
|
******************************************************************************
|
||||||
|
*
|
||||||
|
* @file pios_board.h
|
||||||
|
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||||
|
* @brief Defines board hardware for the OpenPilot Version 0.1 hardware.
|
||||||
|
* @see The GNU Public License (GPL) Version 3
|
||||||
|
*
|
||||||
|
*****************************************************************************/
|
||||||
|
/*
|
||||||
|
* This program is free software; you can redistribute it and/or modify
|
||||||
|
* it under the terms of the GNU General Public License as published by
|
||||||
|
* the Free Software Foundation; either version 3 of the License, or
|
||||||
|
* (at your option) any later version.
|
||||||
|
*
|
||||||
|
* This program is distributed in the hope that it will be useful, but
|
||||||
|
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
||||||
|
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||||||
|
* for more details.
|
||||||
|
*
|
||||||
|
* You should have received a copy of the GNU General Public License along
|
||||||
|
* with this program; if not, write to the Free Software Foundation, Inc.,
|
||||||
|
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||||
|
*/
|
||||||
|
|
||||||
|
|
||||||
|
#ifndef PIOS_BOARD_H
|
||||||
|
#define PIOS_BOARD_H
|
||||||
|
|
||||||
|
|
||||||
|
//------------------------
|
||||||
|
// DMA Channels Used
|
||||||
|
//------------------------
|
||||||
|
/* Channel 1 - */
|
||||||
|
/* Channel 2 - SPI1 RX */
|
||||||
|
/* Channel 3 - SPI1 TX */
|
||||||
|
/* Channel 4 - SPI2 RX */
|
||||||
|
/* Channel 5 - SPI2 TX */
|
||||||
|
/* Channel 6 - */
|
||||||
|
/* Channel 7 - */
|
||||||
|
/* Channel 8 - */
|
||||||
|
/* Channel 9 - */
|
||||||
|
/* Channel 10 - */
|
||||||
|
/* Channel 11 - */
|
||||||
|
/* Channel 12 - */
|
||||||
|
|
||||||
|
//------------------------
|
||||||
|
// PIOS_LED
|
||||||
|
//------------------------
|
||||||
|
#define PIOS_LED_LED1_GPIO_PORT GPIOC
|
||||||
|
#define PIOS_LED_LED1_GPIO_PIN GPIO_Pin_12
|
||||||
|
#define PIOS_LED_LED1_GPIO_CLK RCC_APB2Periph_GPIOC
|
||||||
|
#define PIOS_LED_LED2_GPIO_PORT GPIOC
|
||||||
|
#define PIOS_LED_LED2_GPIO_PIN GPIO_Pin_13
|
||||||
|
#define PIOS_LED_LED2_GPIO_CLK RCC_APB2Periph_GPIOC
|
||||||
|
#define PIOS_LED_NUM 2
|
||||||
|
#define PIOS_LED_PORTS { PIOS_LED_LED1_GPIO_PORT, PIOS_LED_LED2_GPIO_PORT }
|
||||||
|
#define PIOS_LED_PINS { PIOS_LED_LED1_GPIO_PIN, PIOS_LED_LED2_GPIO_PIN }
|
||||||
|
#define PIOS_LED_CLKS { PIOS_LED_LED1_GPIO_CLK, PIOS_LED_LED2_GPIO_CLK }
|
||||||
|
|
||||||
|
//------------------------
|
||||||
|
// PIOS_I2C
|
||||||
|
//------------------------
|
||||||
|
#define PIOS_I2C_GPIO_PORT GPIOB
|
||||||
|
#define PIOS_I2C_SDA_PIN GPIO_Pin_11
|
||||||
|
#define PIOS_I2C_SCL_PIN GPIO_Pin_10
|
||||||
|
#define PIOS_I2C_DUTY_CYCLE I2C_DutyCycle_2
|
||||||
|
#define PIOS_I2C_BUS_FREQ 400000
|
||||||
|
#define PIOS_I2C_TIMEOUT_VALUE 5000
|
||||||
|
#define PIOS_I2C_IRQ_EV_PRIORITY 2
|
||||||
|
#define PIOS_I2C_IRQ_ER_PRIORITY 2
|
||||||
|
|
||||||
|
//------------------------
|
||||||
|
// PIOS_BMP085
|
||||||
|
//------------------------
|
||||||
|
#define PIOS_BMP085_EOC_GPIO_PORT GPIOC
|
||||||
|
#define PIOS_BMP085_EOC_GPIO_PIN GPIO_Pin_15
|
||||||
|
#define PIOS_BMP085_EOC_PORT_SOURCE GPIO_PortSourceGPIOG
|
||||||
|
#define PIOS_BMP085_EOC_PIN_SOURCE GPIO_PinSource8
|
||||||
|
#define PIOS_BMP085_EOC_CLK RCC_APB2Periph_GPIOC
|
||||||
|
#define PIOS_BMP085_EOC_EXTI_LINE EXTI_Line15
|
||||||
|
#define PIOS_BMP085_EOC_IRQn EXTI15_10_IRQn
|
||||||
|
|
||||||
|
//-------------------------
|
||||||
|
// PIOS_USART1 (TELEM)
|
||||||
|
//-------------------------
|
||||||
|
#define PIOS_USART1_ENABLED 1
|
||||||
|
#define PIOS_USART1_USART USART2
|
||||||
|
#define PIOS_USART1_GPIO_PORT GPIOA
|
||||||
|
#define PIOS_USART1_RX_PIN GPIO_Pin_3
|
||||||
|
#define PIOS_USART1_TX_PIN GPIO_Pin_2
|
||||||
|
#define PIOS_USART1_REMAP_FUNC { }
|
||||||
|
#define PIOS_USART1_IRQ_CHANNEL USART2_IRQn
|
||||||
|
#define PIOS_USART1_IRQHANDLER_FUNC void USART2_IRQHandler(void)
|
||||||
|
#define PIOS_USART1_CLK_FUNC RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART2, ENABLE)
|
||||||
|
#define PIOS_USART1_NVIC_PRIO PIOS_IRQ_PRIO_HIGHEST
|
||||||
|
#define PIOS_USART1_BAUDRATE 57600
|
||||||
|
|
||||||
|
//-------------------------
|
||||||
|
// PIOS_USART2 (GPS)
|
||||||
|
//-------------------------
|
||||||
|
#define PIOS_USART2_ENABLED 1
|
||||||
|
#define PIOS_USART2_USART USART3
|
||||||
|
#define PIOS_USART2_GPIO_PORT GPIOC
|
||||||
|
#define PIOS_USART2_RX_PIN GPIO_Pin_11
|
||||||
|
#define PIOS_USART2_TX_PIN GPIO_Pin_10
|
||||||
|
#define PIOS_USART2_REMAP_FUNC { GPIO_PinRemapConfig(GPIO_PartialRemap_USART3, ENABLE); }
|
||||||
|
#define PIOS_USART2_IRQ_CHANNEL USART3_IRQn
|
||||||
|
#define PIOS_USART2_IRQHANDLER_FUNC void USART3_IRQHandler(void)
|
||||||
|
#define PIOS_USART2_CLK_FUNC RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART3, ENABLE)
|
||||||
|
#define PIOS_USART2_NVIC_PRIO PIOS_IRQ_PRIO_HIGHEST
|
||||||
|
#define PIOS_USART2_BAUDRATE 57600
|
||||||
|
|
||||||
|
//-------------------------
|
||||||
|
// PIOS_USART3 (AUX) (RX5/RX6)
|
||||||
|
//-------------------------
|
||||||
|
#define PIOS_USART3_ENABLED 0
|
||||||
|
#define PIOS_USART3_USART USART1
|
||||||
|
#define PIOS_USART3_GPIO_PORT GPIOA
|
||||||
|
#define PIOS_USART3_RX_PIN GPIO_Pin_10
|
||||||
|
#define PIOS_USART3_TX_PIN GPIO_Pin_9
|
||||||
|
#define PIOS_USART3_REMAP_FUNC { }
|
||||||
|
#define PIOS_USART3_IRQ_CHANNEL USART1_IRQn
|
||||||
|
#define PIOS_USART3_IRQHANDLER_FUNC void USART1_IRQHandler(void)
|
||||||
|
#define PIOS_USART3_CLK_FUNC RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1, ENABLE)
|
||||||
|
#define PIOS_USART3_NVIC_PRIO PIOS_IRQ_PRIO_HIGH
|
||||||
|
#define PIOS_USART3_BAUDRATE 57600
|
||||||
|
|
||||||
|
//-------------------------
|
||||||
|
// PIOS_USART
|
||||||
|
//-------------------------
|
||||||
|
#define PIOS_USART_NUM 3
|
||||||
|
#define PIOS_USART_RX_BUFFER_SIZE 1024
|
||||||
|
#define PIOS_USART_TX_BUFFER_SIZE 256
|
||||||
|
#define PIOS_COM_DEBUG_PORT GPS
|
||||||
|
|
||||||
|
//-------------------------
|
||||||
|
// SPI
|
||||||
|
//-------------------------
|
||||||
|
#define PIOS_SPI_IRQ_DMA_PRIORITY PIOS_IRQ_PRIO_HIGH
|
||||||
|
#define PIOS_SPI_NUM 2
|
||||||
|
#define PIOS_SPI0_ENABLED 1
|
||||||
|
#define PIOS_SPI0_PTR SPI1
|
||||||
|
#define PIOS_SPI0_DMA_RX_PTR DMA1_Channel2
|
||||||
|
#define PIOS_SPI0_DMA_TX_PTR DMA1_Channel3
|
||||||
|
#define PIOS_SPI0_DMA_RX_IRQ_FLAGS (DMA1_FLAG_TC2 | DMA1_FLAG_TE2 | DMA1_FLAG_HT2 | DMA1_FLAG_GL2)
|
||||||
|
#define PIOS_SPI0_DMA_IRQ_CHANNEL DMA1_Channel2_IRQn
|
||||||
|
#define PIOS_SPI0_DMA_IRQHANDLER_FUNC void DMA1_Channel2_IRQHandler(void)
|
||||||
|
#define PIOS_SPI0_RCLK1_PORT GPIOA
|
||||||
|
#define PIOS_SPI0_RCLK1_PIN GPIO_Pin_4
|
||||||
|
#define PIOS_SPI0_SCLK_PORT GPIOA
|
||||||
|
#define PIOS_SPI0_SCLK_PIN GPIO_Pin_5
|
||||||
|
#define PIOS_SPI0_MISO_PORT GPIOA
|
||||||
|
#define PIOS_SPI0_MISO_PIN GPIO_Pin_6
|
||||||
|
#define PIOS_SPI0_MOSI_PORT GPIOA
|
||||||
|
#define PIOS_SPI0_MOSI_PIN GPIO_Pin_7
|
||||||
|
#define PIOS_SPI1_ENABLED 1
|
||||||
|
#define PIOS_SPI1_PTR SPI2
|
||||||
|
#define PIOS_SPI1_DMA_RX_PTR DMA1_Channel4
|
||||||
|
#define PIOS_SPI1_DMA_TX_PTR DMA1_Channel5
|
||||||
|
#define PIOS_SPI1_DMA_RX_IRQ_FLAGS (DMA1_FLAG_TC4 | DMA1_FLAG_TE4 | DMA1_FLAG_HT4 | DMA1_FLAG_GL4)
|
||||||
|
#define PIOS_SPI1_DMA_IRQ_CHANNEL DMA1_Channel4_IRQn
|
||||||
|
#define PIOS_SPI1_DMA_IRQHANDLER_FUNC void DMA1_Channel4_IRQHandler(void)
|
||||||
|
#define PIOS_SPI1_RCLK1_PORT GPIOB
|
||||||
|
#define PIOS_SPI1_RCLK1_PIN GPIO_Pin_12
|
||||||
|
#define PIOS_SPI1_SCLK_PORT GPIOB
|
||||||
|
#define PIOS_SPI1_SCLK_PIN GPIO_Pin_13
|
||||||
|
#define PIOS_SPI1_MISO_PORT GPIOB
|
||||||
|
#define PIOS_SPI1_MISO_PIN GPIO_Pin_14
|
||||||
|
#define PIOS_SPI1_MOSI_PORT GPIOB
|
||||||
|
#define PIOS_SPI1_MOSI_PIN GPIO_Pin_15
|
||||||
|
|
||||||
|
//-------------------------
|
||||||
|
// PIOS_SDCARD
|
||||||
|
//-------------------------
|
||||||
|
#define PIOS_SDCARD_SPI 0
|
||||||
|
|
||||||
|
//-------------------------
|
||||||
|
// Delay Timer
|
||||||
|
//-------------------------
|
||||||
|
#define PIOS_DELAY_TIMER TIM2
|
||||||
|
#define PIOS_DELAY_TIMER_RCC RCC_APB1Periph_TIM2
|
||||||
|
|
||||||
|
//-------------------------
|
||||||
|
// Master Clock
|
||||||
|
//-------------------------
|
||||||
|
#define PIOS_MASTER_CLOCK 72000000
|
||||||
|
#define PIOS_PERIPHERAL_CLOCK (PIOS_MASTER_CLOCK / 2)
|
||||||
|
|
||||||
|
//-------------------------
|
||||||
|
// Interrupt Priorities
|
||||||
|
//-------------------------
|
||||||
|
#define PIOS_IRQ_PRIO_LOW 12 // lower than RTOS
|
||||||
|
#define PIOS_IRQ_PRIO_MID 8 // higher than RTOS
|
||||||
|
#define PIOS_IRQ_PRIO_HIGH 5 // for SPI, ADC, I2C etc...
|
||||||
|
#define PIOS_IRQ_PRIO_HIGHEST 4 // for USART etc...
|
||||||
|
|
||||||
|
//-------------------------
|
||||||
|
// Receiver PWM inputs
|
||||||
|
//-------------------------
|
||||||
|
#define RECEIVER1_GPIO_PORT GPIOB
|
||||||
|
#define RECEIVER1_PIN GPIO_Pin_0 // PB0
|
||||||
|
#define RECEIVER1_TIM_PORT TIM3
|
||||||
|
#define RECEIVER1_CH TIM_Channel_3 // TIM3_CH3
|
||||||
|
#define RECEIVER2_GPIO_PORT GPIOB
|
||||||
|
#define RECEIVER2_PIN GPIO_Pin_1 // PB1
|
||||||
|
#define RECEIVER2_TIM_PORT TIM3
|
||||||
|
#define RECEIVER2_CH TIM_Channel_4 // TIM3_CH4
|
||||||
|
#define RECEIVER3_GPIO_PORT GPIOA
|
||||||
|
#define RECEIVER3_PIN GPIO_Pin_8 // PA8
|
||||||
|
#define RECEIVER3_TIM_PORT TIM1
|
||||||
|
#define RECEIVER3_CH TIM_Channel_1 // TIM1_CH1
|
||||||
|
#define RECEIVER4_GPIO_PORT GPIOA
|
||||||
|
#define RECEIVER4_PIN GPIO_Pin_0 // PA0
|
||||||
|
#define RECEIVER4_TIM_PORT TIM5
|
||||||
|
#define RECEIVER4_CH TIM_Channel_1 // TIM5_CH1
|
||||||
|
#define RECEIVER5_GPIO_PORT GPIOA
|
||||||
|
#define RECEIVER5_PIN GPIO_Pin_10 // PA10
|
||||||
|
#define RECEIVER5_TIM_PORT TIM1
|
||||||
|
#define RECEIVER5_CH TIM_Channel_3 // TIM1_CH3
|
||||||
|
#define RECEIVER6_GPIO_PORT GPIOA
|
||||||
|
#define RECEIVER6_PIN GPIO_Pin_9 // PA9
|
||||||
|
#define RECEIVER6_TIM_PORT TIM1
|
||||||
|
#define RECEIVER6_CH TIM_Channel_2 // TIM1_CH2
|
||||||
|
#define RECEIVER7_GPIO_PORT GPIOB
|
||||||
|
#define RECEIVER7_PIN GPIO_Pin_4 // PB4
|
||||||
|
#define RECEIVER7_TIM_PORT TIM3
|
||||||
|
#define RECEIVER7_CH TIM_Channel_1 // TIM3_CH1
|
||||||
|
#define RECEIVER8_GPIO_PORT GPIOB
|
||||||
|
#define RECEIVER8_PIN GPIO_Pin_5 // PB5
|
||||||
|
#define RECEIVER8_TIM_PORT TIM3
|
||||||
|
#define RECEIVER8_CH TIM_Channel_2 // TIM3_CH2
|
||||||
|
#define NUM_RECEIVER_INPUTS 6
|
||||||
|
|
||||||
|
//-------------------------
|
||||||
|
// Servo outputs
|
||||||
|
//-------------------------
|
||||||
|
#define SERVO1TO4_PORT GPIOB
|
||||||
|
#define SERVO1_PIN GPIO_Pin_6
|
||||||
|
#define SERVO2_PIN GPIO_Pin_7
|
||||||
|
#define SERVO3_PIN GPIO_Pin_8
|
||||||
|
#define SERVO4_PIN GPIO_Pin_9
|
||||||
|
#define SERVO5TO8_PORT GPIOC
|
||||||
|
#define SERVO5_PIN GPIO_Pin_6
|
||||||
|
#define SERVO6_PIN GPIO_Pin_7
|
||||||
|
#define SERVO7_PIN GPIO_Pin_8
|
||||||
|
#define SERVO8_PIN GPIO_Pin_9
|
||||||
|
#define NUM_SERVO_OUTPUTS 8
|
||||||
|
|
||||||
|
//-------------------------
|
||||||
|
// ADC
|
||||||
|
//-------------------------
|
||||||
|
#define ADC_GPIO_PORT GPIOC
|
||||||
|
#define ADC_Z_PIN GPIO_Pin_0 // ADC123_IN10
|
||||||
|
#define ADC_A_PIN GPIO_Pin_1 // ADC123_IN11
|
||||||
|
#define ADC_B_PIN GPIO_Pin_2 // ADC123_IN12
|
||||||
|
#define ADC_Z_CHANNEL ADC_Channel_10
|
||||||
|
#define ADC_A_CHANNEL ADC_Channel_11
|
||||||
|
#define ADC_B_CHANNEL ADC_Channel_12
|
||||||
|
#define NUM_ADC_PINS 4 // 3 but actually 4 because of temp sensor
|
||||||
|
#define ADC_IRQ_PRIO PIOS_IRQ_PRIO_HIGH
|
||||||
|
|
||||||
|
//-------------------------
|
||||||
|
// USB
|
||||||
|
//-------------------------
|
||||||
|
#define PIOS_USB_ENABLED 1
|
||||||
|
#define PIOS_USB_DETECT_GPIO_PORT GPIOC
|
||||||
|
#define PIOS_USB_DETECT_GPIO_PIN GPIO_Pin_4
|
||||||
|
#define PIOS_IRQ_USB_PRIORITY PIOS_IRQ_PRIO_MID
|
||||||
|
|
||||||
|
#endif /* PIOS_BOARD_H */
|
||||||
51
flight/AHRS/inc/pios_config.h
Normal file
51
flight/AHRS/inc/pios_config.h
Normal file
@ -0,0 +1,51 @@
|
|||||||
|
/**
|
||||||
|
******************************************************************************
|
||||||
|
*
|
||||||
|
* @file pios_config.h
|
||||||
|
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||||
|
* @brief PiOS configuration header.
|
||||||
|
* - Central compile time config for the project.
|
||||||
|
* @see The GNU Public License (GPL) Version 3
|
||||||
|
*
|
||||||
|
*****************************************************************************/
|
||||||
|
/*
|
||||||
|
* This program is free software; you can redistribute it and/or modify
|
||||||
|
* it under the terms of the GNU General Public License as published by
|
||||||
|
* the Free Software Foundation; either version 3 of the License, or
|
||||||
|
* (at your option) any later version.
|
||||||
|
*
|
||||||
|
* This program is distributed in the hope that it will be useful, but
|
||||||
|
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
||||||
|
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||||||
|
* for more details.
|
||||||
|
*
|
||||||
|
* You should have received a copy of the GNU General Public License along
|
||||||
|
* with this program; if not, write to the Free Software Foundation, Inc.,
|
||||||
|
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||||
|
*/
|
||||||
|
|
||||||
|
|
||||||
|
#ifndef PIOS_CONFIG_H
|
||||||
|
#define PIOS_CONFIG_H
|
||||||
|
|
||||||
|
/* Enable/Disable PiOS Modules */
|
||||||
|
//#define PIOS_DONT_USE_ADC
|
||||||
|
//#define PIOS_DONT_USE_DELAY
|
||||||
|
#define PIOS_DONT_USE_I2C
|
||||||
|
//#define PIOS_DONT_USE_IRQ
|
||||||
|
//#define PIOS_DONT_USE_LED
|
||||||
|
#define PIOS_DONT_USE_PWM
|
||||||
|
#define PIOS_DONT_USE_SERVO
|
||||||
|
//#define PIOS_DONT_USE_SPI
|
||||||
|
//#define PIOS_DONT_USE_SYS
|
||||||
|
//#define PIOS_DONT_USE_USART
|
||||||
|
#define PIOS_DONT_USE_USB_COM
|
||||||
|
#define PIOS_DONT_USE_USB_HID
|
||||||
|
#define PIOS_DONT_USE_USB
|
||||||
|
#define PIOS_DONT_USE_BMP085
|
||||||
|
#define PIOS_DONT_USE_COM
|
||||||
|
#define PIOS_DONT_USE_SDCARD
|
||||||
|
#define PIOS_DONT_USE_SETTINGS
|
||||||
|
|
||||||
|
|
||||||
|
#endif /* PIOS_CONFIG_H */
|
||||||
411
flight/PiOS/STM32F10x/link_stm32f10x_MD.ld
Normal file
411
flight/PiOS/STM32F10x/link_stm32f10x_MD.ld
Normal file
@ -0,0 +1,411 @@
|
|||||||
|
/**
|
||||||
|
******************************************************************************
|
||||||
|
*
|
||||||
|
* @file link_stm32f10x_HD.ld
|
||||||
|
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2009.
|
||||||
|
* @brief PiOS linker for the OpenPilot AHRS 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
|
||||||
|
*/
|
||||||
|
|
||||||
|
|
||||||
|
/* Memory Spaces Definitions */
|
||||||
|
MEMORY
|
||||||
|
{
|
||||||
|
RAM (xrw) : ORIGIN = 0x20000000, LENGTH = 20K
|
||||||
|
FLASH (rx) : ORIGIN = 0x08000000, LENGTH = 128K
|
||||||
|
FLASHB1 (rx) : ORIGIN = 0x00000000, LENGTH = 0
|
||||||
|
EXTMEMB0 (rx) : ORIGIN = 0x00000000, LENGTH = 0
|
||||||
|
EXTMEMB1 (rx) : ORIGIN = 0x00000000, LENGTH = 0
|
||||||
|
EXTMEMB2 (rx) : ORIGIN = 0x00000000, LENGTH = 0
|
||||||
|
EXTMEMB3 (rx) : ORIGIN = 0x00000000, LENGTH = 0
|
||||||
|
}
|
||||||
|
|
||||||
|
/* higher address of the user mode stack */
|
||||||
|
_estack = 0x20010000;
|
||||||
|
|
||||||
|
/* default stack sizes.
|
||||||
|
|
||||||
|
These are used by the startup in order to allocate stacks for the different modes.
|
||||||
|
|
||||||
|
Note: FreeRTOS gives each task an own stack
|
||||||
|
*/
|
||||||
|
|
||||||
|
__Stack_Size = 128 ;
|
||||||
|
|
||||||
|
PROVIDE ( _Stack_Size = __Stack_Size ) ;
|
||||||
|
|
||||||
|
__Stack_Init = _estack - __Stack_Size ;
|
||||||
|
|
||||||
|
/*"PROVIDE" allows to easily override these values from an object file or the commmand line.*/
|
||||||
|
PROVIDE ( _Stack_Init = __Stack_Init ) ;
|
||||||
|
|
||||||
|
/*
|
||||||
|
There will be a link error if there is not this amount of RAM free at the end.
|
||||||
|
*/
|
||||||
|
_Minimum_Stack_Size = 0x100 ;
|
||||||
|
|
||||||
|
/* Check valid alignment for VTOR */
|
||||||
|
ASSERT(ORIGIN(FLASH) == ALIGN(ORIGIN(FLASH), 0x80), "Start of memory region flash not aligned for startup vector table");
|
||||||
|
|
||||||
|
|
||||||
|
/*
|
||||||
|
this sends all unreferenced IRQHandlers to reset
|
||||||
|
*/
|
||||||
|
|
||||||
|
|
||||||
|
PROVIDE ( Undefined_Handler = 0 ) ;
|
||||||
|
PROVIDE ( SWI_Handler = 0 ) ;
|
||||||
|
PROVIDE ( IRQ_Handler = 0 ) ;
|
||||||
|
PROVIDE ( Prefetch_Handler = 0 ) ;
|
||||||
|
PROVIDE ( Abort_Handler = 0 ) ;
|
||||||
|
PROVIDE ( FIQ_Handler = 0 ) ;
|
||||||
|
|
||||||
|
PROVIDE ( NMI_Handler = 0 ) ;
|
||||||
|
PROVIDE ( HardFault_Handler = 0 ) ;
|
||||||
|
PROVIDE ( MemManage_Handler = 0 ) ;
|
||||||
|
PROVIDE ( BusFault_Handler = 0 ) ;
|
||||||
|
PROVIDE ( UsageFault_Handler = 0 ) ;
|
||||||
|
PROVIDE ( SVC_Handler = 0 ) ;
|
||||||
|
PROVIDE ( DebugMon_Handler = 0 ) ;
|
||||||
|
PROVIDE ( PendSV_Handler = 0 ) ;
|
||||||
|
PROVIDE ( SysTick_Handler = 0 ) ;
|
||||||
|
|
||||||
|
PROVIDE ( WWDG_IRQHandler = 0 ) ;
|
||||||
|
PROVIDE ( PVD_IRQHandler = 0 ) ;
|
||||||
|
PROVIDE ( TAMPER_IRQHandler = 0 ) ;
|
||||||
|
PROVIDE ( RTC_IRQHandler = 0 ) ;
|
||||||
|
PROVIDE ( FLASH_IRQHandler = 0 ) ;
|
||||||
|
PROVIDE ( RCC_IRQHandler = 0 ) ;
|
||||||
|
PROVIDE ( EXTI0_IRQHandler = 0 ) ;
|
||||||
|
PROVIDE ( EXTI1_IRQHandler = 0 ) ;
|
||||||
|
PROVIDE ( EXTI2_IRQHandler = 0 ) ;
|
||||||
|
PROVIDE ( EXTI3_IRQHandler = 0 ) ;
|
||||||
|
PROVIDE ( EXTI4_IRQHandler = 0 ) ;
|
||||||
|
PROVIDE ( DMAChannel1_IRQHandler = 0 ) ;
|
||||||
|
PROVIDE ( DMAChannel2_IRQHandler = 0 ) ;
|
||||||
|
PROVIDE ( DMAChannel3_IRQHandler = 0 ) ;
|
||||||
|
PROVIDE ( DMAChannel4_IRQHandler = 0 ) ;
|
||||||
|
PROVIDE ( DMAChannel5_IRQHandler = 0 ) ;
|
||||||
|
PROVIDE ( DMAChannel6_IRQHandler = 0 ) ;
|
||||||
|
PROVIDE ( DMAChannel7_IRQHandler = 0 ) ;
|
||||||
|
PROVIDE ( ADC_IRQHandler = 0 ) ;
|
||||||
|
PROVIDE ( USB_HP_CAN1_TX_IRQHandler = 0 ) ;
|
||||||
|
PROVIDE ( USB_LP_CAN1_RX0_IRQHandler = 0 ) ;
|
||||||
|
PROVIDE ( CAN1_RX1_IRQHandler = 0 ) ;
|
||||||
|
PROVIDE ( CAN1_SCE_IRQHandler = 0 ) ;
|
||||||
|
PROVIDE ( EXTI9_5_IRQHandler = 0 ) ;
|
||||||
|
PROVIDE ( TIM1_BRK_IRQHandler = 0 ) ;
|
||||||
|
PROVIDE ( TIM1_UP_IRQHandler = 0 ) ;
|
||||||
|
PROVIDE ( TIM1_TRG_COM_IRQHandler = 0 ) ;
|
||||||
|
PROVIDE ( TIM1_CC_IRQHandler = 0 ) ;
|
||||||
|
PROVIDE ( TIM2_IRQHandler = 0 ) ;
|
||||||
|
PROVIDE ( TIM3_IRQHandler = 0 ) ;
|
||||||
|
PROVIDE ( TIM4_IRQHandler = 0 ) ;
|
||||||
|
PROVIDE ( I2C1_EV_IRQHandler = 0 ) ;
|
||||||
|
PROVIDE ( I2C1_ER_IRQHandler = 0 ) ;
|
||||||
|
PROVIDE ( I2C2_EV_IRQHandler = 0 ) ;
|
||||||
|
PROVIDE ( I2C2_ER_IRQHandler = 0 ) ;
|
||||||
|
PROVIDE ( SPI1_IRQHandler = 0 ) ;
|
||||||
|
PROVIDE ( SPI2_IRQHandler = 0 ) ;
|
||||||
|
PROVIDE ( USART1_IRQHandler = 0 ) ;
|
||||||
|
PROVIDE ( USART2_IRQHandler = 0 ) ;
|
||||||
|
PROVIDE ( USART3_IRQHandler = 0 ) ;
|
||||||
|
PROVIDE ( EXTI15_10_IRQHandler = 0 ) ;
|
||||||
|
PROVIDE ( RTCAlarm_IRQHandler = 0 ) ;
|
||||||
|
PROVIDE ( USBWakeUp_IRQHandler = 0 ) ;
|
||||||
|
PROVIDE ( TIM8_BRK_IRQHandler = 0 ) ;
|
||||||
|
PROVIDE ( TIM8_UP_IRQHandler = 0 ) ;
|
||||||
|
PROVIDE ( TIM8_TRG_COM_IRQHandler = 0 ) ;
|
||||||
|
PROVIDE ( TIM8_CC_IRQHandler = 0 ) ;
|
||||||
|
PROVIDE ( ADC3_IRQHandler = 0 ) ;
|
||||||
|
PROVIDE ( FSMC_IRQHandler = 0 ) ;
|
||||||
|
PROVIDE ( SDIO_IRQHandler = 0 ) ;
|
||||||
|
PROVIDE ( TIM5_IRQHandler = 0 ) ;
|
||||||
|
PROVIDE ( SPI3_IRQHandler = 0 ) ;
|
||||||
|
PROVIDE ( UART4_IRQHandler = 0 ) ;
|
||||||
|
PROVIDE ( UART5_IRQHandler = 0 ) ;
|
||||||
|
PROVIDE ( TIM6_IRQHandler = 0 ) ;
|
||||||
|
PROVIDE ( TIM7_IRQHandler = 0 ) ;
|
||||||
|
PROVIDE ( DMA2_Channel1_IRQHandler = 0 ) ;
|
||||||
|
PROVIDE ( DMA2_Channel2_IRQHandler = 0 ) ;
|
||||||
|
PROVIDE ( DMA2_Channel3_IRQHandler = 0 ) ;
|
||||||
|
PROVIDE ( DMA2_Channel4_5_IRQHandler = 0 ) ;
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
/******************************************************************************/
|
||||||
|
/* Peripheral memory map */
|
||||||
|
/******************************************************************************/
|
||||||
|
/*this allows to compile the ST lib in "non-debug" mode*/
|
||||||
|
|
||||||
|
|
||||||
|
/* Peripheral and SRAM base address in the alias region */
|
||||||
|
PERIPH_BB_BASE = 0x42000000;
|
||||||
|
SRAM_BB_BASE = 0x22000000;
|
||||||
|
|
||||||
|
/* Peripheral and SRAM base address in the bit-band region */
|
||||||
|
SRAM_BASE = 0x20000000;
|
||||||
|
PERIPH_BASE = 0x40000000;
|
||||||
|
|
||||||
|
/* Flash registers base address */
|
||||||
|
PROVIDE ( FLASH_BASE = 0x40022000);
|
||||||
|
/* Flash Option Bytes base address */
|
||||||
|
PROVIDE ( OB_BASE = 0x1FFFF800);
|
||||||
|
|
||||||
|
/* Peripheral memory map */
|
||||||
|
APB1PERIPH_BASE = PERIPH_BASE ;
|
||||||
|
APB2PERIPH_BASE = (PERIPH_BASE + 0x10000) ;
|
||||||
|
AHBPERIPH_BASE = (PERIPH_BASE + 0x20000) ;
|
||||||
|
|
||||||
|
PROVIDE ( TIM2 = (APB1PERIPH_BASE + 0x0000) ) ;
|
||||||
|
PROVIDE ( TIM3 = (APB1PERIPH_BASE + 0x0400) ) ;
|
||||||
|
PROVIDE ( TIM4 = (APB1PERIPH_BASE + 0x0800) ) ;
|
||||||
|
PROVIDE ( RTC = (APB1PERIPH_BASE + 0x2800) ) ;
|
||||||
|
PROVIDE ( WWDG = (APB1PERIPH_BASE + 0x2C00) ) ;
|
||||||
|
PROVIDE ( IWDG = (APB1PERIPH_BASE + 0x3000) ) ;
|
||||||
|
PROVIDE ( SPI2 = (APB1PERIPH_BASE + 0x3800) ) ;
|
||||||
|
PROVIDE ( USART2 = (APB1PERIPH_BASE + 0x4400) ) ;
|
||||||
|
PROVIDE ( USART3 = (APB1PERIPH_BASE + 0x4800) ) ;
|
||||||
|
PROVIDE ( I2C1 = (APB1PERIPH_BASE + 0x5400) ) ;
|
||||||
|
PROVIDE ( I2C2 = (APB1PERIPH_BASE + 0x5800) ) ;
|
||||||
|
PROVIDE ( CAN = (APB1PERIPH_BASE + 0x6400) ) ;
|
||||||
|
PROVIDE ( BKP = (APB1PERIPH_BASE + 0x6C00) ) ;
|
||||||
|
PROVIDE ( PWR = (APB1PERIPH_BASE + 0x7000) ) ;
|
||||||
|
|
||||||
|
PROVIDE ( AFIO = (APB2PERIPH_BASE + 0x0000) ) ;
|
||||||
|
PROVIDE ( EXTI = (APB2PERIPH_BASE + 0x0400) ) ;
|
||||||
|
PROVIDE ( GPIOA = (APB2PERIPH_BASE + 0x0800) ) ;
|
||||||
|
PROVIDE ( GPIOB = (APB2PERIPH_BASE + 0x0C00) ) ;
|
||||||
|
PROVIDE ( GPIOC = (APB2PERIPH_BASE + 0x1000) ) ;
|
||||||
|
PROVIDE ( GPIOD = (APB2PERIPH_BASE + 0x1400) ) ;
|
||||||
|
PROVIDE ( GPIOE = (APB2PERIPH_BASE + 0x1800) ) ;
|
||||||
|
PROVIDE ( ADC1 = (APB2PERIPH_BASE + 0x2400) ) ;
|
||||||
|
PROVIDE ( ADC2 = (APB2PERIPH_BASE + 0x2800) ) ;
|
||||||
|
PROVIDE ( TIM1 = (APB2PERIPH_BASE + 0x2C00) ) ;
|
||||||
|
PROVIDE ( SPI1 = (APB2PERIPH_BASE + 0x3000) ) ;
|
||||||
|
PROVIDE ( USART1 = (APB2PERIPH_BASE + 0x3800) ) ;
|
||||||
|
|
||||||
|
PROVIDE ( DMA = (AHBPERIPH_BASE + 0x0000) ) ;
|
||||||
|
PROVIDE ( DMA_Channel1 = (AHBPERIPH_BASE + 0x0008) ) ;
|
||||||
|
PROVIDE ( DMA_Channel2 = (AHBPERIPH_BASE + 0x001C) ) ;
|
||||||
|
PROVIDE ( DMA_Channel3 = (AHBPERIPH_BASE + 0x0030) ) ;
|
||||||
|
PROVIDE ( DMA_Channel4 = (AHBPERIPH_BASE + 0x0044) ) ;
|
||||||
|
PROVIDE ( DMA_Channel5 = (AHBPERIPH_BASE + 0x0058) ) ;
|
||||||
|
PROVIDE ( DMA_Channel6 = (AHBPERIPH_BASE + 0x006C) ) ;
|
||||||
|
PROVIDE ( DMA_Channel7 = (AHBPERIPH_BASE + 0x0080) ) ;
|
||||||
|
PROVIDE ( RCC = (AHBPERIPH_BASE + 0x1000) ) ;
|
||||||
|
|
||||||
|
/* System Control Space memory map */
|
||||||
|
SCS_BASE = 0xE000E000;
|
||||||
|
|
||||||
|
PROVIDE ( SysTick = (SCS_BASE + 0x0010) ) ;
|
||||||
|
PROVIDE ( NVIC = (SCS_BASE + 0x0100) ) ;
|
||||||
|
PROVIDE ( SCB = (SCS_BASE + 0x0D00) ) ;
|
||||||
|
|
||||||
|
|
||||||
|
/* Sections Definitions */
|
||||||
|
|
||||||
|
SECTIONS
|
||||||
|
{
|
||||||
|
|
||||||
|
/* for Cortex devices, the beginning of the startup code is stored in the .isr_vector section, which goes to FLASH */
|
||||||
|
.isr_vector :
|
||||||
|
{
|
||||||
|
KEEP(*(.isr_vector)) /* Startup code */
|
||||||
|
. = ALIGN(4);
|
||||||
|
} >FLASH
|
||||||
|
|
||||||
|
/* for some STRx devices, the beginning of the startup code is stored in the .flashtext section, which goes to FLASH */
|
||||||
|
.flashtext :
|
||||||
|
{
|
||||||
|
. = ALIGN(4);
|
||||||
|
*(.flashtext) /* Startup code */
|
||||||
|
. = ALIGN(4);
|
||||||
|
} >FLASH
|
||||||
|
|
||||||
|
|
||||||
|
/* the program code is stored in the .text section, which goes to Flash */
|
||||||
|
.text :
|
||||||
|
{
|
||||||
|
. = ALIGN(4);
|
||||||
|
|
||||||
|
*(.text) /* remaining code */
|
||||||
|
*(.text.*) /* remaining code */
|
||||||
|
*(.rodata) /* read-only data (constants) */
|
||||||
|
*(.rodata*)
|
||||||
|
*(.glue_7)
|
||||||
|
*(.glue_7t)
|
||||||
|
|
||||||
|
. = ALIGN(4);
|
||||||
|
_etext = .;
|
||||||
|
/* This is used by the startup in order to initialize the .data secion */
|
||||||
|
_sidata = _etext;
|
||||||
|
} >FLASH
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
/* This is the initialized data section
|
||||||
|
The program executes knowing that the data is in the RAM
|
||||||
|
but the loader puts the initial values in the FLASH (inidata).
|
||||||
|
It is one task of the startup to copy the initial values from FLASH to RAM. */
|
||||||
|
.data : AT ( _sidata )
|
||||||
|
{
|
||||||
|
. = ALIGN(4);
|
||||||
|
/* This is used by the startup in order to initialize the .data secion */
|
||||||
|
_sdata = . ;
|
||||||
|
|
||||||
|
*(.data)
|
||||||
|
*(.data.*)
|
||||||
|
. = ALIGN(4);
|
||||||
|
/* This is used by the startup in order to initialize the .data secion */
|
||||||
|
_edata = . ;
|
||||||
|
} >RAM
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
/* This is the uninitialized data section */
|
||||||
|
.bss :
|
||||||
|
{
|
||||||
|
. = ALIGN(4);
|
||||||
|
/* This is used by the startup in order to initialize the .bss secion */
|
||||||
|
_sbss = .;
|
||||||
|
|
||||||
|
*(.bss)
|
||||||
|
*(COMMON)
|
||||||
|
|
||||||
|
. = ALIGN(4);
|
||||||
|
/* This is used by the startup in order to initialize the .bss secion */
|
||||||
|
_ebss = . ;
|
||||||
|
} >RAM
|
||||||
|
|
||||||
|
PROVIDE ( end = _ebss );
|
||||||
|
PROVIDE ( _end = _ebss );
|
||||||
|
|
||||||
|
/* This is the user stack section
|
||||||
|
This is just to check that there is enough RAM left for the User mode stack
|
||||||
|
It should generate an error if it's full.
|
||||||
|
*/
|
||||||
|
._usrstack :
|
||||||
|
{
|
||||||
|
. = ALIGN(4);
|
||||||
|
_susrstack = . ;
|
||||||
|
|
||||||
|
. = . + _Minimum_Stack_Size ;
|
||||||
|
|
||||||
|
. = ALIGN(4);
|
||||||
|
_eusrstack = . ;
|
||||||
|
} >RAM
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
/* this is the FLASH Bank1 */
|
||||||
|
/* the C or assembly source must explicitly place the code or data there
|
||||||
|
using the "section" attribute */
|
||||||
|
.b1text :
|
||||||
|
{
|
||||||
|
*(.b1text) /* remaining code */
|
||||||
|
*(.b1rodata) /* read-only data (constants) */
|
||||||
|
*(.b1rodata*)
|
||||||
|
} >FLASHB1
|
||||||
|
|
||||||
|
/* this is the EXTMEM */
|
||||||
|
/* the C or assembly source must explicitly place the code or data there
|
||||||
|
using the "section" attribute */
|
||||||
|
|
||||||
|
/* EXTMEM Bank0 */
|
||||||
|
.eb0text :
|
||||||
|
{
|
||||||
|
*(.eb0text) /* remaining code */
|
||||||
|
*(.eb0rodata) /* read-only data (constants) */
|
||||||
|
*(.eb0rodata*)
|
||||||
|
} >EXTMEMB0
|
||||||
|
|
||||||
|
/* EXTMEM Bank1 */
|
||||||
|
.eb1text :
|
||||||
|
{
|
||||||
|
*(.eb1text) /* remaining code */
|
||||||
|
*(.eb1rodata) /* read-only data (constants) */
|
||||||
|
*(.eb1rodata*)
|
||||||
|
} >EXTMEMB1
|
||||||
|
|
||||||
|
/* EXTMEM Bank2 */
|
||||||
|
.eb2text :
|
||||||
|
{
|
||||||
|
*(.eb2text) /* remaining code */
|
||||||
|
*(.eb2rodata) /* read-only data (constants) */
|
||||||
|
*(.eb2rodata*)
|
||||||
|
} >EXTMEMB2
|
||||||
|
|
||||||
|
/* EXTMEM Bank0 */
|
||||||
|
.eb3text :
|
||||||
|
{
|
||||||
|
*(.eb3text) /* remaining code */
|
||||||
|
*(.eb3rodata) /* read-only data (constants) */
|
||||||
|
*(.eb3rodata*)
|
||||||
|
} >EXTMEMB3
|
||||||
|
|
||||||
|
__exidx_start = .;
|
||||||
|
__exidx_end = .;
|
||||||
|
|
||||||
|
/* after that it's only debugging information. */
|
||||||
|
|
||||||
|
/* remove the debugging information from the standard libraries */
|
||||||
|
/DISCARD/ :
|
||||||
|
{
|
||||||
|
libc.a ( * )
|
||||||
|
libm.a ( * )
|
||||||
|
libgcc.a ( * )
|
||||||
|
}
|
||||||
|
|
||||||
|
/* Stabs debugging sections. */
|
||||||
|
.stab 0 : { *(.stab) }
|
||||||
|
.stabstr 0 : { *(.stabstr) }
|
||||||
|
.stab.excl 0 : { *(.stab.excl) }
|
||||||
|
.stab.exclstr 0 : { *(.stab.exclstr) }
|
||||||
|
.stab.index 0 : { *(.stab.index) }
|
||||||
|
.stab.indexstr 0 : { *(.stab.indexstr) }
|
||||||
|
.comment 0 : { *(.comment) }
|
||||||
|
/* DWARF debug sections.
|
||||||
|
Symbols in the DWARF debugging sections are relative to the beginning
|
||||||
|
of the section so we begin them at 0. */
|
||||||
|
/* DWARF 1 */
|
||||||
|
.debug 0 : { *(.debug) }
|
||||||
|
.line 0 : { *(.line) }
|
||||||
|
/* GNU DWARF 1 extensions */
|
||||||
|
.debug_srcinfo 0 : { *(.debug_srcinfo) }
|
||||||
|
.debug_sfnames 0 : { *(.debug_sfnames) }
|
||||||
|
/* DWARF 1.1 and DWARF 2 */
|
||||||
|
.debug_aranges 0 : { *(.debug_aranges) }
|
||||||
|
.debug_pubnames 0 : { *(.debug_pubnames) }
|
||||||
|
/* DWARF 2 */
|
||||||
|
.debug_info 0 : { *(.debug_info .gnu.linkonce.wi.*) }
|
||||||
|
.debug_abbrev 0 : { *(.debug_abbrev) }
|
||||||
|
.debug_line 0 : { *(.debug_line) }
|
||||||
|
.debug_frame 0 : { *(.debug_frame) }
|
||||||
|
.debug_str 0 : { *(.debug_str) }
|
||||||
|
.debug_loc 0 : { *(.debug_loc) }
|
||||||
|
.debug_macinfo 0 : { *(.debug_macinfo) }
|
||||||
|
/* SGI/MIPS DWARF 2 extensions */
|
||||||
|
.debug_weaknames 0 : { *(.debug_weaknames) }
|
||||||
|
.debug_funcnames 0 : { *(.debug_funcnames) }
|
||||||
|
.debug_typenames 0 : { *(.debug_typenames) }
|
||||||
|
.debug_varnames 0 : { *(.debug_varnames) }
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
356
flight/PiOS/STM32F10x/startup_stm32f10x_MD.S
Normal file
356
flight/PiOS/STM32F10x/startup_stm32f10x_MD.S
Normal file
@ -0,0 +1,356 @@
|
|||||||
|
/**
|
||||||
|
******************************************************************************
|
||||||
|
* @file startup_stm32f10x_md.s
|
||||||
|
* @author MCD Application Team / Angus Peart
|
||||||
|
* @version V3.1.1
|
||||||
|
* @date 07/27/2009
|
||||||
|
* @brief STM32F10x Medium Density Devices vector table for RIDE7 toolchain.
|
||||||
|
* This module performs:
|
||||||
|
* - Set the initial SP
|
||||||
|
* - Set the initial PC == Reset_Handler,
|
||||||
|
* - Set the vector table entries with the exceptions ISR address
|
||||||
|
* - Branches to main in the C library (which eventually
|
||||||
|
* calls main()).
|
||||||
|
* After Reset the Cortex-M3 processor is in Thread mode,
|
||||||
|
* priority is Privileged, and the Stack is set to Main.
|
||||||
|
*******************************************************************************
|
||||||
|
* @copy
|
||||||
|
*
|
||||||
|
* THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS
|
||||||
|
* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE
|
||||||
|
* TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY
|
||||||
|
* DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING
|
||||||
|
* FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE
|
||||||
|
* CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS.
|
||||||
|
*
|
||||||
|
* <h2><center>© COPYRIGHT 2009 STMicroelectronics</center></h2>
|
||||||
|
*/
|
||||||
|
|
||||||
|
.syntax unified
|
||||||
|
.cpu cortex-m3
|
||||||
|
.fpu softvfp
|
||||||
|
.thumb
|
||||||
|
|
||||||
|
.global g_pfnVectors
|
||||||
|
.global SystemInit_ExtMemCtl_Dummy
|
||||||
|
.global Default_Handler
|
||||||
|
|
||||||
|
/* start address for the initialization values of the .data section.
|
||||||
|
defined in linker script */
|
||||||
|
.word _sidata
|
||||||
|
/* start address for the .data section. defined in linker script */
|
||||||
|
.word _sdata
|
||||||
|
/* end address for the .data section. defined in linker script */
|
||||||
|
.word _edata
|
||||||
|
/* start address for the .bss section. defined in linker script */
|
||||||
|
.word _sbss
|
||||||
|
/* end address for the .bss section. defined in linker script */
|
||||||
|
.word _ebss
|
||||||
|
|
||||||
|
.equ BootRAM, 0xF108F85F
|
||||||
|
/**
|
||||||
|
* @brief This is the code that gets called when the processor first
|
||||||
|
* starts execution following a reset event. Only the absolutely
|
||||||
|
* necessary set is performed, after which the application
|
||||||
|
* supplied main() routine is called.
|
||||||
|
* @param None
|
||||||
|
* @retval : None
|
||||||
|
*/
|
||||||
|
|
||||||
|
.section .text.Reset_Handler
|
||||||
|
.weak Reset_Handler
|
||||||
|
.type Reset_Handler, %function
|
||||||
|
Reset_Handler:
|
||||||
|
|
||||||
|
/* Copy the data segment initializers from flash to SRAM */
|
||||||
|
movs r1, #0
|
||||||
|
b LoopCopyDataInit
|
||||||
|
|
||||||
|
CopyDataInit:
|
||||||
|
ldr r3, =_sidata
|
||||||
|
ldr r3, [r3, r1]
|
||||||
|
str r3, [r0, r1]
|
||||||
|
adds r1, r1, #4
|
||||||
|
|
||||||
|
LoopCopyDataInit:
|
||||||
|
ldr r0, =_sdata
|
||||||
|
ldr r3, =_edata
|
||||||
|
adds r2, r0, r1
|
||||||
|
cmp r2, r3
|
||||||
|
bcc CopyDataInit
|
||||||
|
ldr r2, =_sbss
|
||||||
|
b LoopFillZerobss
|
||||||
|
/* Zero fill the bss segment. */
|
||||||
|
FillZerobss:
|
||||||
|
movs r3, #0
|
||||||
|
str r3, [r2], #4
|
||||||
|
|
||||||
|
LoopFillZerobss:
|
||||||
|
ldr r3, = _ebss
|
||||||
|
cmp r2, r3
|
||||||
|
bcc FillZerobss
|
||||||
|
/* Call the application's entry point.*/
|
||||||
|
bl main
|
||||||
|
bx lr
|
||||||
|
.size Reset_Handler, .-Reset_Handler
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief This is the code that gets called when the processor receives an
|
||||||
|
* unexpected interrupt. This simply enters an infinite loop, preserving
|
||||||
|
* the system state for examination by a debugger.
|
||||||
|
*
|
||||||
|
* @param None
|
||||||
|
* @retval : None
|
||||||
|
*/
|
||||||
|
.section .text.Default_Handler,"ax",%progbits
|
||||||
|
Default_Handler:
|
||||||
|
Infinite_Loop:
|
||||||
|
b Infinite_Loop
|
||||||
|
.size Default_Handler, .-Default_Handler
|
||||||
|
/******************************************************************************
|
||||||
|
*
|
||||||
|
* The minimal vector table for a Cortex M3. Note that the proper constructs
|
||||||
|
* must be placed on this to ensure that it ends up at physical address
|
||||||
|
* 0x0000.0000.
|
||||||
|
*
|
||||||
|
******************************************************************************/
|
||||||
|
.section .isr_vector,"a",%progbits
|
||||||
|
.type g_pfnVectors, %object
|
||||||
|
.size g_pfnVectors, .-g_pfnVectors
|
||||||
|
|
||||||
|
|
||||||
|
g_pfnVectors:
|
||||||
|
.word _estack
|
||||||
|
.word Reset_Handler
|
||||||
|
.word NMI_Handler
|
||||||
|
.word HardFault_Handler
|
||||||
|
.word MemManage_Handler
|
||||||
|
.word BusFault_Handler
|
||||||
|
.word UsageFault_Handler
|
||||||
|
.word 0
|
||||||
|
.word 0
|
||||||
|
.word 0
|
||||||
|
.word 0
|
||||||
|
.word SVC_Handler
|
||||||
|
.word DebugMon_Handler
|
||||||
|
.word 0
|
||||||
|
.word PendSV_Handler
|
||||||
|
.word SysTick_Handler
|
||||||
|
.word WWDG_IRQHandler
|
||||||
|
.word PVD_IRQHandler
|
||||||
|
.word TAMPER_IRQHandler
|
||||||
|
.word RTC_IRQHandler
|
||||||
|
.word FLASH_IRQHandler
|
||||||
|
.word RCC_IRQHandler
|
||||||
|
.word EXTI0_IRQHandler
|
||||||
|
.word EXTI1_IRQHandler
|
||||||
|
.word EXTI2_IRQHandler
|
||||||
|
.word EXTI3_IRQHandler
|
||||||
|
.word EXTI4_IRQHandler
|
||||||
|
.word DMA1_Channel1_IRQHandler
|
||||||
|
.word DMA1_Channel2_IRQHandler
|
||||||
|
.word DMA1_Channel3_IRQHandler
|
||||||
|
.word DMA1_Channel4_IRQHandler
|
||||||
|
.word DMA1_Channel5_IRQHandler
|
||||||
|
.word DMA1_Channel6_IRQHandler
|
||||||
|
.word DMA1_Channel7_IRQHandler
|
||||||
|
.word ADC1_2_IRQHandler
|
||||||
|
.word USB_HP_CAN1_TX_IRQHandler
|
||||||
|
.word USB_LP_CAN1_RX0_IRQHandler
|
||||||
|
.word CAN1_RX1_IRQHandler
|
||||||
|
.word CAN1_SCE_IRQHandler
|
||||||
|
.word EXTI9_5_IRQHandler
|
||||||
|
.word TIM1_BRK_IRQHandler
|
||||||
|
.word TIM1_UP_IRQHandler
|
||||||
|
.word TIM1_TRG_COM_IRQHandler
|
||||||
|
.word TIM1_CC_IRQHandler
|
||||||
|
.word TIM2_IRQHandler
|
||||||
|
.word TIM3_IRQHandler
|
||||||
|
.word TIM4_IRQHandler
|
||||||
|
.word I2C1_EV_IRQHandler
|
||||||
|
.word I2C1_ER_IRQHandler
|
||||||
|
.word I2C2_EV_IRQHandler
|
||||||
|
.word I2C2_ER_IRQHandler
|
||||||
|
.word SPI1_IRQHandler
|
||||||
|
.word SPI2_IRQHandler
|
||||||
|
.word USART1_IRQHandler
|
||||||
|
.word USART2_IRQHandler
|
||||||
|
.word USART3_IRQHandler
|
||||||
|
.word EXTI15_10_IRQHandler
|
||||||
|
.word RTCAlarm_IRQHandler
|
||||||
|
.word USBWakeUp_IRQHandler
|
||||||
|
.word 0
|
||||||
|
.word 0
|
||||||
|
.word 0
|
||||||
|
.word 0
|
||||||
|
.word 0
|
||||||
|
.word 0
|
||||||
|
.word 0
|
||||||
|
.word BootRAM /* @0x108. This is for boot in RAM mode for
|
||||||
|
STM32F10x Medium Density devices. */
|
||||||
|
|
||||||
|
/*******************************************************************************
|
||||||
|
*
|
||||||
|
* Provide weak aliases for each Exception handler to the Default_Handler.
|
||||||
|
* As they are weak aliases, any function with the same name will override
|
||||||
|
* this definition.
|
||||||
|
*
|
||||||
|
*******************************************************************************/
|
||||||
|
|
||||||
|
.weak NMI_Handler
|
||||||
|
.thumb_set NMI_Handler,Default_Handler
|
||||||
|
|
||||||
|
.weak HardFault_Handler
|
||||||
|
.thumb_set HardFault_Handler,Default_Handler
|
||||||
|
|
||||||
|
.weak MemManage_Handler
|
||||||
|
.thumb_set MemManage_Handler,Default_Handler
|
||||||
|
|
||||||
|
.weak BusFault_Handler
|
||||||
|
.thumb_set BusFault_Handler,Default_Handler
|
||||||
|
|
||||||
|
.weak UsageFault_Handler
|
||||||
|
.thumb_set UsageFault_Handler,Default_Handler
|
||||||
|
|
||||||
|
.weak SVC_Handler
|
||||||
|
.thumb_set SVC_Handler,Default_Handler
|
||||||
|
|
||||||
|
.weak DebugMon_Handler
|
||||||
|
.thumb_set DebugMon_Handler,Default_Handler
|
||||||
|
|
||||||
|
.weak PendSV_Handler
|
||||||
|
.thumb_set PendSV_Handler,Default_Handler
|
||||||
|
|
||||||
|
.weak SysTick_Handler
|
||||||
|
.thumb_set SysTick_Handler,Default_Handler
|
||||||
|
|
||||||
|
.weak WWDG_IRQHandler
|
||||||
|
.thumb_set WWDG_IRQHandler,Default_Handler
|
||||||
|
|
||||||
|
.weak PVD_IRQHandler
|
||||||
|
.thumb_set PVD_IRQHandler,Default_Handler
|
||||||
|
|
||||||
|
.weak TAMPER_IRQHandler
|
||||||
|
.thumb_set TAMPER_IRQHandler,Default_Handler
|
||||||
|
|
||||||
|
.weak RTC_IRQHandler
|
||||||
|
.thumb_set RTC_IRQHandler,Default_Handler
|
||||||
|
|
||||||
|
.weak FLASH_IRQHandler
|
||||||
|
.thumb_set FLASH_IRQHandler,Default_Handler
|
||||||
|
|
||||||
|
.weak RCC_IRQHandler
|
||||||
|
.thumb_set RCC_IRQHandler,Default_Handler
|
||||||
|
|
||||||
|
.weak EXTI0_IRQHandler
|
||||||
|
.thumb_set EXTI0_IRQHandler,Default_Handler
|
||||||
|
|
||||||
|
.weak EXTI1_IRQHandler
|
||||||
|
.thumb_set EXTI1_IRQHandler,Default_Handler
|
||||||
|
|
||||||
|
.weak EXTI2_IRQHandler
|
||||||
|
.thumb_set EXTI2_IRQHandler,Default_Handler
|
||||||
|
|
||||||
|
.weak EXTI3_IRQHandler
|
||||||
|
.thumb_set EXTI3_IRQHandler,Default_Handler
|
||||||
|
|
||||||
|
.weak EXTI4_IRQHandler
|
||||||
|
.thumb_set EXTI4_IRQHandler,Default_Handler
|
||||||
|
|
||||||
|
.weak DMA1_Channel1_IRQHandler
|
||||||
|
.thumb_set DMA1_Channel1_IRQHandler,Default_Handler
|
||||||
|
|
||||||
|
.weak DMA1_Channel2_IRQHandler
|
||||||
|
.thumb_set DMA1_Channel2_IRQHandler,Default_Handler
|
||||||
|
|
||||||
|
.weak DMA1_Channel3_IRQHandler
|
||||||
|
.thumb_set DMA1_Channel3_IRQHandler,Default_Handler
|
||||||
|
|
||||||
|
.weak DMA1_Channel4_IRQHandler
|
||||||
|
.thumb_set DMA1_Channel4_IRQHandler,Default_Handler
|
||||||
|
|
||||||
|
.weak DMA1_Channel5_IRQHandler
|
||||||
|
.thumb_set DMA1_Channel5_IRQHandler,Default_Handler
|
||||||
|
|
||||||
|
.weak DMA1_Channel6_IRQHandler
|
||||||
|
.thumb_set DMA1_Channel6_IRQHandler,Default_Handler
|
||||||
|
|
||||||
|
.weak DMA1_Channel7_IRQHandler
|
||||||
|
.thumb_set DMA1_Channel7_IRQHandler,Default_Handler
|
||||||
|
|
||||||
|
.weak ADC1_2_IRQHandler
|
||||||
|
.thumb_set ADC1_2_IRQHandler,Default_Handler
|
||||||
|
|
||||||
|
.weak USB_HP_CAN1_TX_IRQHandler
|
||||||
|
.thumb_set USB_HP_CAN1_TX_IRQHandler,Default_Handler
|
||||||
|
|
||||||
|
.weak USB_LP_CAN1_RX0_IRQHandler
|
||||||
|
.thumb_set USB_LP_CAN1_RX0_IRQHandler,Default_Handler
|
||||||
|
|
||||||
|
.weak CAN1_RX1_IRQHandler
|
||||||
|
.thumb_set CAN1_RX1_IRQHandler,Default_Handler
|
||||||
|
|
||||||
|
.weak CAN1_SCE_IRQHandler
|
||||||
|
.thumb_set CAN1_SCE_IRQHandler,Default_Handler
|
||||||
|
|
||||||
|
.weak EXTI9_5_IRQHandler
|
||||||
|
.thumb_set EXTI9_5_IRQHandler,Default_Handler
|
||||||
|
|
||||||
|
.weak TIM1_BRK_IRQHandler
|
||||||
|
.thumb_set TIM1_BRK_IRQHandler,Default_Handler
|
||||||
|
|
||||||
|
.weak TIM1_UP_IRQHandler
|
||||||
|
.thumb_set TIM1_UP_IRQHandler,Default_Handler
|
||||||
|
|
||||||
|
.weak TIM1_TRG_COM_IRQHandler
|
||||||
|
.thumb_set TIM1_TRG_COM_IRQHandler,Default_Handler
|
||||||
|
|
||||||
|
.weak TIM1_CC_IRQHandler
|
||||||
|
.thumb_set TIM1_CC_IRQHandler,Default_Handler
|
||||||
|
|
||||||
|
.weak TIM2_IRQHandler
|
||||||
|
.thumb_set TIM2_IRQHandler,Default_Handler
|
||||||
|
|
||||||
|
.weak TIM3_IRQHandler
|
||||||
|
.thumb_set TIM3_IRQHandler,Default_Handler
|
||||||
|
|
||||||
|
.weak TIM4_IRQHandler
|
||||||
|
.thumb_set TIM4_IRQHandler,Default_Handler
|
||||||
|
|
||||||
|
.weak I2C1_EV_IRQHandler
|
||||||
|
.thumb_set I2C1_EV_IRQHandler,Default_Handler
|
||||||
|
|
||||||
|
.weak I2C1_ER_IRQHandler
|
||||||
|
.thumb_set I2C1_ER_IRQHandler,Default_Handler
|
||||||
|
|
||||||
|
.weak I2C2_EV_IRQHandler
|
||||||
|
.thumb_set I2C2_EV_IRQHandler,Default_Handler
|
||||||
|
|
||||||
|
.weak I2C2_ER_IRQHandler
|
||||||
|
.thumb_set I2C2_ER_IRQHandler,Default_Handler
|
||||||
|
|
||||||
|
.weak SPI1_IRQHandler
|
||||||
|
.thumb_set SPI1_IRQHandler,Default_Handler
|
||||||
|
|
||||||
|
.weak SPI2_IRQHandler
|
||||||
|
.thumb_set SPI2_IRQHandler,Default_Handler
|
||||||
|
|
||||||
|
.weak USART1_IRQHandler
|
||||||
|
.thumb_set USART1_IRQHandler,Default_Handler
|
||||||
|
|
||||||
|
.weak USART2_IRQHandler
|
||||||
|
.thumb_set USART2_IRQHandler,Default_Handler
|
||||||
|
|
||||||
|
.weak USART3_IRQHandler
|
||||||
|
.thumb_set USART3_IRQHandler,Default_Handler
|
||||||
|
|
||||||
|
.weak EXTI15_10_IRQHandler
|
||||||
|
.thumb_set EXTI15_10_IRQHandler,Default_Handler
|
||||||
|
|
||||||
|
.weak RTCAlarm_IRQHandler
|
||||||
|
.thumb_set RTCAlarm_IRQHandler,Default_Handler
|
||||||
|
|
||||||
|
.weak USBWakeUp_IRQHandler
|
||||||
|
.thumb_set USBWakeUp_IRQHandler,Default_Handler
|
||||||
|
|
||||||
|
|
||||||
@ -27,6 +27,8 @@
|
|||||||
#ifndef PIOS_SDCARD_H
|
#ifndef PIOS_SDCARD_H
|
||||||
#define PIOS_SDCARD_H
|
#define PIOS_SDCARD_H
|
||||||
|
|
||||||
|
#if !defined(PIOS_DONT_USE_SDCARD)
|
||||||
|
|
||||||
/* Public Functions */
|
/* Public Functions */
|
||||||
typedef struct {
|
typedef struct {
|
||||||
uint8_t CSDStruct; /* CSD structure */
|
uint8_t CSDStruct; /* CSD structure */
|
||||||
@ -105,4 +107,6 @@ extern int32_t PIOS_SDCARD_ReadLine(PFILEINFO fileinfo, uint8_t *buffer, uint32_
|
|||||||
extern int32_t PIOS_SDCARD_FileCopy(char *Source, char *Destination);
|
extern int32_t PIOS_SDCARD_FileCopy(char *Source, char *Destination);
|
||||||
extern int32_t PIOS_SDCARD_FileDelete(char *Filename);
|
extern int32_t PIOS_SDCARD_FileDelete(char *Filename);
|
||||||
|
|
||||||
|
#endif
|
||||||
|
|
||||||
#endif /* PIOS_SDCARD_H */
|
#endif /* PIOS_SDCARD_H */
|
||||||
|
|||||||
@ -44,6 +44,7 @@
|
|||||||
#include <stm32f10x.h>
|
#include <stm32f10x.h>
|
||||||
#include <stm32f10x_conf.h>
|
#include <stm32f10x_conf.h>
|
||||||
|
|
||||||
|
#if !defined(PIOS_DONT_USE_SDCARD)
|
||||||
/* Dosfs Includes */
|
/* Dosfs Includes */
|
||||||
#include <dosfs.h>
|
#include <dosfs.h>
|
||||||
|
|
||||||
@ -52,6 +53,7 @@
|
|||||||
|
|
||||||
/* Mass Storage Device Includes */
|
/* Mass Storage Device Includes */
|
||||||
#include <msd.h>
|
#include <msd.h>
|
||||||
|
#endif
|
||||||
|
|
||||||
/* PIOS Hardware Includes (STM32F10x) */
|
/* PIOS Hardware Includes (STM32F10x) */
|
||||||
#include <pios_sys.h>
|
#include <pios_sys.h>
|
||||||
@ -76,7 +78,9 @@
|
|||||||
|
|
||||||
/* More added here as they get written */
|
/* More added here as they get written */
|
||||||
|
|
||||||
|
#if !defined(PIOS_DONT_USE_USB)
|
||||||
/* USB Libs */
|
/* USB Libs */
|
||||||
#include <usb_lib.h>
|
#include <usb_lib.h>
|
||||||
|
#endif
|
||||||
|
|
||||||
#endif /* PIOS_H */
|
#endif /* PIOS_H */
|
||||||
|
|||||||
Loading…
Reference in New Issue
Block a user