/* -*- Mode: c; c-basic-offset: 2; tab-width: 2; indent-tabs-mode: t -*- */ /** ****************************************************************************** * @addtogroup OpenPilotSystem OpenPilot System * @{ * @addtogroup OpenPilotCore OpenPilot Core * @{ * * @file pios_board.c * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. * @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 #include #include #include #include #include #if defined(PIOS_INCLUDE_LED) #include static const struct pios_led pios_leds[] = { [PIOS_LED_USB] = { .pin = { //.gpio = GPIOA, .gpio = GPIOC, .init = { //.GPIO_Pin = GPIO_Pin_3, .GPIO_Pin = GPIO_Pin_13, .GPIO_Mode = GPIO_Mode_Out_PP, .GPIO_Speed = GPIO_Speed_50MHz, }, }, }, [PIOS_LED_LINK] = { .pin = { .gpio = GPIOB, .init = { .GPIO_Pin = GPIO_Pin_5, .GPIO_Mode = GPIO_Mode_Out_PP, .GPIO_Speed = GPIO_Speed_50MHz, }, }, }, [PIOS_LED_RX] = { .pin = { .gpio = GPIOB, .init = { .GPIO_Pin = GPIO_Pin_6, .GPIO_Mode = GPIO_Mode_Out_PP, .GPIO_Speed = GPIO_Speed_50MHz, }, }, }, [PIOS_LED_TX] = { .pin = { .gpio = GPIOB, .init = { .GPIO_Pin = GPIO_Pin_7, .GPIO_Mode = GPIO_Mode_Out_PP, .GPIO_Speed = GPIO_Speed_50MHz, }, }, }, }; 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 /* OP Interface * * NOTE: Leave this declared as const data so that it ends up in the * .rodata section (ie. Flash) rather than in the .bss section (RAM). */ void PIOS_SPI_port_irq_handler(void); void DMA1_Channel5_IRQHandler() __attribute__ ((alias ("PIOS_SPI_port_irq_handler"))); void DMA1_Channel4_IRQHandler() __attribute__ ((alias ("PIOS_SPI_port_irq_handler"))); static const struct pios_spi_cfg pios_spi_port_cfg = { .regs = 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 = 0, .SPI_CPOL = SPI_CPOL_Low, .SPI_CPHA = SPI_CPHA_1Edge, .SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_256, // slowest SCLK }, .use_crc = FALSE, .dma = { .ahb_clk = RCC_AHBPeriph_DMA1, .irq = { .flags = (DMA1_FLAG_TC2 | DMA1_FLAG_TE2 | DMA1_FLAG_HT2 | DMA1_FLAG_GL2), .init = { .NVIC_IRQChannel = DMA1_Channel2_IRQn, .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH, .NVIC_IRQChannelSubPriority = 0, .NVIC_IRQChannelCmd = ENABLE, }, }, .rx = { .channel = DMA1_Channel2, .init = { .DMA_PeripheralBaseAddr = (uint32_t)&(SPI1->DR), .DMA_DIR = DMA_DIR_PeripheralSRC, .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_M2M = DMA_M2M_Disable, }, }, .tx = { .channel = DMA1_Channel3, .init = { .DMA_PeripheralBaseAddr = (uint32_t)&(SPI1->DR), .DMA_DIR = DMA_DIR_PeripheralDST, .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_M2M = DMA_M2M_Disable, }, }, }, .ssel = { .gpio = GPIOA, .init = { .GPIO_Pin = GPIO_Pin_4, .GPIO_Speed = GPIO_Speed_10MHz, .GPIO_Mode = GPIO_Mode_Out_PP, }, }, .sclk = { .gpio = GPIOA, .init = { .GPIO_Pin = GPIO_Pin_5, .GPIO_Speed = GPIO_Speed_10MHz, .GPIO_Mode = GPIO_Mode_AF_PP, }, }, .miso = { .gpio = GPIOA, .init = { .GPIO_Pin = GPIO_Pin_6, .GPIO_Speed = GPIO_Speed_10MHz, .GPIO_Mode = GPIO_Mode_IN_FLOATING, }, }, .mosi = { .gpio = GPIOA, .init = { .GPIO_Pin = GPIO_Pin_7, .GPIO_Speed = GPIO_Speed_10MHz, .GPIO_Mode = GPIO_Mode_AF_PP, }, }, }; uint32_t pios_spi_port_id; void PIOS_SPI_port_irq_handler(void) { /* Call into the generic code to handle the IRQ for this specific device */ PIOS_SPI_IRQ_Handler(pios_spi_port_id); } #endif /* PIOS_INCLUDE_SPI */ #if defined(PIOS_INCLUDE_ADC) /* * ADC system */ #include "pios_adc_priv.h" extern void PIOS_ADC_handler(void); void DMA1_Channel1_IRQHandler() __attribute__ ((alias("PIOS_ADC_handler"))); // Remap the ADC DMA handler to this one static const struct pios_adc_cfg pios_adc_cfg = { .dma = { .ahb_clk = RCC_AHBPeriph_DMA1, .irq = { .flags = (DMA1_FLAG_TC1 | DMA1_FLAG_TE1 | DMA1_FLAG_HT1 | DMA1_FLAG_GL1), .init = { .NVIC_IRQChannel = DMA1_Channel1_IRQn, .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH, .NVIC_IRQChannelSubPriority = 0, .NVIC_IRQChannelCmd = ENABLE, }, }, .rx = { .channel = DMA1_Channel1, .init = { .DMA_PeripheralBaseAddr = (uint32_t) & ADC1->DR, .DMA_DIR = DMA_DIR_PeripheralSRC, .DMA_PeripheralInc = DMA_PeripheralInc_Disable, .DMA_MemoryInc = DMA_MemoryInc_Enable, .DMA_PeripheralDataSize = DMA_PeripheralDataSize_Word, .DMA_MemoryDataSize = DMA_MemoryDataSize_Word, .DMA_Mode = DMA_Mode_Circular, .DMA_Priority = DMA_Priority_High, .DMA_M2M = DMA_M2M_Disable, }, } }, .half_flag = DMA1_IT_HT1, .full_flag = DMA1_IT_TC1, }; struct pios_adc_dev pios_adc_devs[] = { { .cfg = &pios_adc_cfg, .callback_function = NULL, }, }; uint8_t pios_adc_num_devices = NELEMENTS(pios_adc_devs); void PIOS_ADC_handler() { PIOS_ADC_DMA_Handler(); } #endif /* PIOS_INCLUDE_ADC */ #if defined(PIOS_INCLUDE_COM) #include "pios_com_priv.h" #endif /* PIOS_INCLUDE_COM */ #if defined(PIOS_INCLUDE_USART) #include "pios_usart_priv.h" /* * Telemetry USART */ static const struct pios_usart_cfg pios_usart_telem_main_cfg = { .regs = 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_IPU, }, }, .tx = { .gpio = GPIOA, .init = { .GPIO_Pin = GPIO_Pin_9, .GPIO_Speed = GPIO_Speed_2MHz, .GPIO_Mode = GPIO_Mode_AF_PP, }, }, }; static const struct pios_usart_cfg pios_usart_usart2_cfg = { .regs = USART2, .init = { .USART_BaudRate = 57600, .USART_WordLength = USART_WordLength_8b, .USART_Parity = USART_Parity_No, .USART_StopBits = USART_StopBits_1, .USART_HardwareFlowControl = USART_HardwareFlowControl_None, .USART_Mode = USART_Mode_Rx | USART_Mode_Tx, }, .irq = { .init = { .NVIC_IRQChannel = USART2_IRQn, .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, .NVIC_IRQChannelSubPriority = 0, .NVIC_IRQChannelCmd = ENABLE, }, }, .rx = { .gpio = GPIOA, .init = { .GPIO_Pin = GPIO_Pin_3, .GPIO_Speed = GPIO_Speed_2MHz, .GPIO_Mode = GPIO_Mode_IPU, }, }, .tx = { .gpio = GPIOA, .init = { .GPIO_Pin = GPIO_Pin_2, .GPIO_Speed = GPIO_Speed_2MHz, .GPIO_Mode = GPIO_Mode_AF_PP, }, }, }; static const struct pios_usart_cfg pios_usart_telem_flexi_cfg = { .regs = USART3, .init = { .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 = USART3_IRQn, .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, .NVIC_IRQChannelSubPriority = 0, .NVIC_IRQChannelCmd = ENABLE, }, }, .rx = { .gpio = GPIOB, .init = { .GPIO_Pin = GPIO_Pin_11, .GPIO_Speed = GPIO_Speed_2MHz, .GPIO_Mode = GPIO_Mode_IPU, }, }, .tx = { .gpio = GPIOB, .init = { .GPIO_Pin = GPIO_Pin_10, .GPIO_Speed = GPIO_Speed_2MHz, .GPIO_Mode = GPIO_Mode_AF_PP, }, }, }; #endif /* PIOS_INCLUDE_USART */ #define PIOS_COM_TELEM_RF_RX_BUF_LEN 192 #define PIOS_COM_TELEM_RF_TX_BUF_LEN 192 #define PIOS_COM_GPS_RX_BUF_LEN 96 #define PIOS_COM_TELEM_USB_RX_BUF_LEN 192 #define PIOS_COM_TELEM_USB_TX_BUF_LEN 192 #if defined(PIOS_INCLUDE_RTC) /* * Realtime Clock (RTC) */ #include void PIOS_RTC_IRQ_Handler (void); void RTC_IRQHandler() __attribute__ ((alias ("PIOS_RTC_IRQ_Handler"))); static const struct pios_rtc_cfg pios_rtc_main_cfg = { .clksrc = RCC_RTCCLKSource_HSE_Div128, .prescaler = 100, .irq = { .init = { .NVIC_IRQChannel = RTC_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_1_2_3_4_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_1_cfg = { .timer = TIM1, .time_base_init = &tim_1_2_3_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_2_cfg = { .timer = TIM2, .time_base_init = &tim_1_2_3_4_time_base, .irq = { .init = { .NVIC_IRQChannel = TIM2_IRQn, .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, .NVIC_IRQChannelSubPriority = 0, .NVIC_IRQChannelCmd = ENABLE, }, }, }; static const struct pios_tim_clock_cfg tim_3_cfg = { .timer = TIM3, .time_base_init = &tim_1_2_3_4_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_4_cfg = { .timer = TIM4, .time_base_init = &tim_1_2_3_4_time_base, .irq = { .init = { .NVIC_IRQChannel = TIM4_IRQn, .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, .NVIC_IRQChannelSubPriority = 0, .NVIC_IRQChannelCmd = ENABLE, }, }, }; static const struct pios_tim_channel pios_tim_rcvrport_all_channels[] = { #ifdef MOVE_CONTROLLER { .timer = TIM4, .timer_chan = TIM_Channel_1, .pin = { .gpio = GPIOE, .init = { .GPIO_Pin = GPIO_Pin_12, .GPIO_Mode = GPIO_Mode_IPD, .GPIO_Speed = GPIO_Speed_2MHz, }, }, }, #else { .timer = TIM4, .timer_chan = TIM_Channel_1, .pin = { .gpio = GPIOB, .init = { .GPIO_Pin = GPIO_Pin_6, .GPIO_Mode = GPIO_Mode_IPD, .GPIO_Speed = GPIO_Speed_2MHz, }, }, }, #endif { .timer = TIM3, .timer_chan = TIM_Channel_2, .pin = { .gpio = GPIOB, .init = { .GPIO_Pin = GPIO_Pin_5, .GPIO_Mode = GPIO_Mode_IPD, .GPIO_Speed = GPIO_Speed_2MHz, }, }, .remap = GPIO_PartialRemap_TIM3, }, { .timer = TIM3, .timer_chan = TIM_Channel_3, .pin = { .gpio = GPIOB, .init = { .GPIO_Pin = GPIO_Pin_0, .GPIO_Mode = GPIO_Mode_IPD, .GPIO_Speed = GPIO_Speed_2MHz, }, }, }, { .timer = TIM3, .timer_chan = TIM_Channel_4, .pin = { .gpio = GPIOB, .init = { .GPIO_Pin = GPIO_Pin_1, .GPIO_Mode = GPIO_Mode_IPD, .GPIO_Speed = GPIO_Speed_2MHz, }, }, }, { .timer = TIM2, .timer_chan = TIM_Channel_1, .pin = { .gpio = GPIOA, .init = { .GPIO_Pin = GPIO_Pin_0, .GPIO_Mode = GPIO_Mode_IPD, .GPIO_Speed = GPIO_Speed_2MHz, }, }, }, { .timer = TIM2, .timer_chan = TIM_Channel_2, .pin = { .gpio = GPIOA, .init = { .GPIO_Pin = GPIO_Pin_1, .GPIO_Mode = GPIO_Mode_IPD, .GPIO_Speed = GPIO_Speed_2MHz, }, }, }, }; /* PPM */ #include 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, }, /* Use only the first channel for ppm */ .channels = &pios_tim_rcvrport_all_channels[0], .num_channels = 1, }; #include "pios_rcvr_priv.h" /* One slot per selectable receiver group. * eg. PWM, PPM, GCS, DSMMAINPORT, DSMFLEXIPORT, SBUS * NOTE: No slot in this map for NONE. */ uint32_t pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE]; uint32_t pios_com_telem_usb_id; uint32_t pios_com_usart1_id; uint32_t pios_com_usart2_id; uint32_t pios_com_usart3_id; #if defined(PIOS_INCLUDE_USB) #include "pios_usb_priv.h" static const struct pios_usb_cfg pios_usb_main_cfg = { .irq = { .init = { .NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn, .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW, .NVIC_IRQChannelSubPriority = 0, .NVIC_IRQChannelCmd = ENABLE, }, }, }; #include "pios_usb_board_data_priv.h" #include "pios_usb_desc_hid_cdc_priv.h" #include "pios_usb_desc_hid_only_priv.h" #endif /* PIOS_INCLUDE_USB */ #if defined(PIOS_INCLUDE_COM_MSG) #include #endif /* PIOS_INCLUDE_COM_MSG */ #if defined(PIOS_INCLUDE_USB_HID) #include const struct pios_usb_hid_cfg pios_usb_hid_cfg = { .data_if = 0, .data_rx_ep = 1, .data_tx_ep = 1, }; #endif /* PIOS_INCLUDE_USB_HID */ #if defined(PIOS_INCLUDE_USB_CDC) #include const struct pios_usb_cdc_cfg pios_usb_cdc_cfg = { .ctrl_if = 1, .ctrl_tx_ep = 2, .data_if = 2, .data_rx_ep = 3, .data_tx_ep = 3, }; #endif /* PIOS_INCLUDE_USB_CDC */ /** * PIOS_Board_Init() * initializes all the core subsystems on this specific hardware * called from System/openpilot.c */ void PIOS_Board_Init(void) { /* Delay system */ PIOS_DELAY_Init(); /* Set up the SPI interface to the serial flash */ if (PIOS_SPI_Init(&pios_spi_port_id, &pios_spi_port_cfg)) { PIOS_Assert(0); } /* Initialize UAVObject libraries */ EventDispatcherInitialize(); UAVObjInitialize(); HwSettingsInitialize(); #ifndef ERASE_FLASH /* Initialize watchdog as early as possible to catch faults during init */ PIOS_WDG_Init(); #endif /* Initialize the alarms library */ AlarmsInitialize(); /* Initialize IAP */ PIOS_IAP_Init(); #if defined(PIOS_INCLUDE_RTC) /* Initialize the real-time clock and its associated tick */ PIOS_RTC_Init(&pios_rtc_main_cfg); #endif #if defined(PIOS_INCLUDE_LED) PIOS_LED_Init(&pios_led_cfg); #endif /* PIOS_INCLUDE_LED */ /* Initialize the task monitor library */ TaskMonitorInitialize(); /* Set up pulse timers */ PIOS_TIM_InitClock(&tim_1_cfg); PIOS_TIM_InitClock(&tim_2_cfg); PIOS_TIM_InitClock(&tim_3_cfg); PIOS_TIM_InitClock(&tim_4_cfg); #if defined(PIOS_INCLUDE_USB) /* Initialize board specific USB data */ PIOS_USB_BOARD_DATA_Init(); #if defined(PIOS_INCLUDE_USB_CDC) if (PIOS_USB_DESC_HID_CDC_Init()) { PIOS_Assert(0); } #else if (PIOS_USB_DESC_HID_ONLY_Init()) { PIOS_Assert(0); } #endif uint32_t pios_usb_id; PIOS_USB_Init(&pios_usb_id, &pios_usb_main_cfg); #if defined(PIOS_INCLUDE_USB_CDC) #if defined(PIOS_INCLUDE_COM) { uint32_t pios_usb_cdc_id; if (PIOS_USB_CDC_Init(&pios_usb_cdc_id, &pios_usb_cdc_cfg, pios_usb_id)) { PIOS_Assert(0); } uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_USB_RX_BUF_LEN); uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_USB_TX_BUF_LEN); PIOS_Assert(rx_buffer); PIOS_Assert(tx_buffer); if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_cdc_com_driver, pios_usb_cdc_id, rx_buffer, PIOS_COM_TELEM_USB_RX_BUF_LEN, tx_buffer, PIOS_COM_TELEM_USB_TX_BUF_LEN)) { PIOS_Assert(0); } } #endif /* PIOS_INCLUDE_COM */ #ifdef COMBRIDGE #if defined(PIOS_INCLUDE_COM) { uint32_t pios_usb_cdc_id; if (PIOS_USB_CDC_Init(&pios_usb_cdc_id, &pios_usb_cdc_cfg, pios_usb_id)) { PIOS_Assert(0); } uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_BRIDGE_RX_BUF_LEN); uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_BRIDGE_TX_BUF_LEN); PIOS_Assert(rx_buffer); PIOS_Assert(tx_buffer); if (PIOS_COM_Init(&pios_com_vcp_id, &pios_usb_cdc_com_driver, pios_usb_cdc_id, rx_buffer, PIOS_COM_BRIDGE_RX_BUF_LEN, tx_buffer, PIOS_COM_BRIDGE_TX_BUF_LEN)) { PIOS_Assert(0); } } #endif /* PIOS_INCLUDE_COM */ #endif #endif /* PIOS_INCLUDE_USB_CDC */ #if defined(PIOS_INCLUDE_USB_HID) /* Configure the usb HID port */ #if defined(PIOS_INCLUDE_COM) { uint32_t pios_usb_hid_id; if (PIOS_USB_HID_Init(&pios_usb_hid_id, &pios_usb_hid_cfg, pios_usb_id)) { PIOS_Assert(0); } uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_USB_RX_BUF_LEN); uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_USB_TX_BUF_LEN); PIOS_Assert(rx_buffer); PIOS_Assert(tx_buffer); if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_hid_com_driver, pios_usb_hid_id, rx_buffer, PIOS_COM_TELEM_USB_RX_BUF_LEN, tx_buffer, PIOS_COM_TELEM_USB_TX_BUF_LEN)) { PIOS_Assert(0); } } #endif /* PIOS_INCLUDE_COM */ #endif /* PIOS_INCLUDE_USB_HID */ #endif /* PIOS_INCLUDE_USB */ #ifdef TRANSMITTER_BOX /* Configure the rcvr port */ { uint32_t pios_ppm_id; PIOS_PPM_Init(&pios_ppm_id, &pios_ppm_cfg); uint32_t pios_ppm_rcvr_id; if (PIOS_RCVR_Init(&pios_ppm_rcvr_id, &pios_ppm_rcvr_driver, pios_ppm_id)) { PIOS_Assert(0); } pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_PPM] = pios_ppm_rcvr_id; } #endif /* Configure USART1 */ { uint32_t pios_usart1_id; if (PIOS_USART_Init(&pios_usart1_id, &pios_usart_telem_main_cfg)) { PIOS_Assert(0); } uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_RF_RX_BUF_LEN); uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_RF_TX_BUF_LEN); PIOS_Assert(rx_buffer); PIOS_Assert(tx_buffer); if (PIOS_COM_Init(&pios_com_usart1_id, &pios_usart_com_driver, pios_usart1_id, rx_buffer, PIOS_COM_TELEM_RF_RX_BUF_LEN, tx_buffer, PIOS_COM_TELEM_RF_TX_BUF_LEN)) { PIOS_Assert(0); } } /* Configure USART2 */ { uint32_t pios_usart2_id; if (PIOS_USART_Init(&pios_usart2_id, &pios_usart_usart2_cfg)) { PIOS_Assert(0); } uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_RF_RX_BUF_LEN); uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_RF_TX_BUF_LEN); PIOS_Assert(rx_buffer); PIOS_Assert(tx_buffer); if (PIOS_COM_Init(&pios_com_usart2_id, &pios_usart_com_driver, pios_usart2_id, rx_buffer, PIOS_COM_TELEM_RF_RX_BUF_LEN, tx_buffer, PIOS_COM_TELEM_RF_TX_BUF_LEN)) { PIOS_Assert(0); } } /* Configure USART3 */ { uint32_t pios_usart3_id; if (PIOS_USART_Init(&pios_usart3_id, &pios_usart_telem_flexi_cfg)) { PIOS_Assert(0); } uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_RF_RX_BUF_LEN); uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_RF_TX_BUF_LEN); PIOS_Assert(rx_buffer); PIOS_Assert(tx_buffer); if (PIOS_COM_Init(&pios_com_usart3_id, &pios_usart_com_driver, pios_usart3_id, rx_buffer, PIOS_COM_TELEM_RF_RX_BUF_LEN, tx_buffer, PIOS_COM_TELEM_RF_TX_BUF_LEN)) { PIOS_Assert(0); } } PIOS_COM_SendString(PIOS_COM_TELEM_SERIAL, "Hello Telem\n\r"); PIOS_COM_SendString(PIOS_COM_DEBUG, "Hello Debug\n\r"); PIOS_COM_SendString(PIOS_COM_FLEXI, "Hello Flexi\n\r"); /* Remap AFIO pin */ GPIO_PinRemapConfig( GPIO_Remap_SWJ_NoJTRST, ENABLE); PIOS_GPIO_Init(); } /** * @} */