/** ****************************************************************************** * @addtogroup OpenPilotSystem OpenPilot System * @{ * @addtogroup OpenPilotCore OpenPilot Core * @{ * * @file board_hw_defs.c * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012. * @brief Defines board specific static initializers for hardware for the OpenPilot board. * @see The GNU Public License (GPL) Version 3 * *****************************************************************************/ /* * This program is free software; you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by * the Free Software Foundation; either version 3 of the License, or * (at your option) any later version. * * This program is distributed in the hope that it will be useful, but * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License * for more details. * * You should have received a copy of the GNU General Public License along * with this program; if not, write to the Free Software Foundation, Inc., * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA */ #include #include #if defined(PIOS_INCLUDE_LED) #include static const struct pios_led pios_leds[] = { [PIOS_LED_HEARTBEAT] = { .pin = { .gpio = GPIOE, .init = { .GPIO_Pin = GPIO_Pin_2, .GPIO_Speed = GPIO_Speed_50MHz, .GPIO_Mode = GPIO_Mode_OUT, .GPIO_OType = GPIO_OType_PP, .GPIO_PuPd = GPIO_PuPd_UP }, }, }, [PIOS_LED_ALARM] = { .pin = { .gpio = GPIOE, .init = { .GPIO_Pin = GPIO_Pin_3, .GPIO_Speed = GPIO_Speed_50MHz, .GPIO_Mode = GPIO_Mode_OUT, .GPIO_OType = GPIO_OType_PP, .GPIO_PuPd = GPIO_PuPd_UP }, }, }, }; static const struct pios_led_cfg pios_led_cfg = { .leds = pios_leds, .num_leds = NELEMENTS(pios_leds), }; const struct pios_led_cfg * PIOS_BOARD_HW_DEFS_GetLedCfg (uint32_t board_revision) { return &pios_led_cfg; } #endif /* PIOS_INCLUDE_LED */ #if defined(PIOS_INCLUDE_SPI) #include /* SPI1 Interface * - Used for BMA180 accelerometer */ void PIOS_SPI_accel_irq_handler(void); void DMA2_Stream0_IRQHandler(void) __attribute__((alias("PIOS_SPI_accel_irq_handler"))); void DMA2_Stream3_IRQHandler(void) __attribute__((alias("PIOS_SPI_accel_irq_handler"))); static const struct pios_spi_cfg pios_spi_accel_cfg = { .regs = SPI1, .remap = GPIO_AF_SPI1, .init = { .SPI_Mode = SPI_Mode_Master, .SPI_Direction = SPI_Direction_2Lines_FullDuplex, .SPI_DataSize = SPI_DataSize_8b, .SPI_NSS = SPI_NSS_Soft, .SPI_FirstBit = SPI_FirstBit_MSB, .SPI_CRCPolynomial = 7, .SPI_CPOL = SPI_CPOL_High, .SPI_CPHA = SPI_CPHA_2Edge, .SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_16, }, .use_crc = false, .dma = { .irq = { .flags = (DMA_IT_TCIF0 | DMA_IT_TEIF0 | DMA_IT_HTIF0), .init = { .NVIC_IRQChannel = DMA2_Stream0_IRQn, .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH, .NVIC_IRQChannelSubPriority = 0, .NVIC_IRQChannelCmd = ENABLE, }, }, .rx = { .channel = DMA2_Stream0, .init = { .DMA_Channel = DMA_Channel_3, .DMA_PeripheralBaseAddr = (uint32_t)&(SPI1->DR), .DMA_DIR = DMA_DIR_PeripheralToMemory, .DMA_PeripheralInc = DMA_PeripheralInc_Disable, .DMA_MemoryInc = DMA_MemoryInc_Enable, .DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte, .DMA_MemoryDataSize = DMA_MemoryDataSize_Byte, .DMA_Mode = DMA_Mode_Normal, .DMA_Priority = DMA_Priority_Medium, .DMA_FIFOMode = DMA_FIFOMode_Disable, /* .DMA_FIFOThreshold */ .DMA_MemoryBurst = DMA_MemoryBurst_Single, .DMA_PeripheralBurst = DMA_PeripheralBurst_Single, }, }, .tx = { .channel = DMA2_Stream3, .init = { .DMA_Channel = DMA_Channel_3, .DMA_PeripheralBaseAddr = (uint32_t)&(SPI1->DR), .DMA_DIR = DMA_DIR_MemoryToPeripheral, .DMA_PeripheralInc = DMA_PeripheralInc_Disable, .DMA_MemoryInc = DMA_MemoryInc_Enable, .DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte, .DMA_MemoryDataSize = DMA_MemoryDataSize_Byte, .DMA_Mode = DMA_Mode_Normal, .DMA_Priority = DMA_Priority_High, .DMA_FIFOMode = DMA_FIFOMode_Disable, /* .DMA_FIFOThreshold */ .DMA_MemoryBurst = DMA_MemoryBurst_Single, .DMA_PeripheralBurst = DMA_PeripheralBurst_Single, }, }, }, .sclk = { .gpio = GPIOA, .init = { .GPIO_Pin = GPIO_Pin_5, .GPIO_Speed = GPIO_Speed_100MHz, .GPIO_Mode = GPIO_Mode_AF, .GPIO_OType = GPIO_OType_PP, .GPIO_PuPd = GPIO_PuPd_UP }, }, .miso = { .gpio = GPIOA, .init = { .GPIO_Pin = GPIO_Pin_6, .GPIO_Speed = GPIO_Speed_50MHz, .GPIO_Mode = GPIO_Mode_AF, .GPIO_OType = GPIO_OType_PP, .GPIO_PuPd = GPIO_PuPd_UP }, }, .mosi = { .gpio = GPIOA, .init = { .GPIO_Pin = GPIO_Pin_7, .GPIO_Speed = GPIO_Speed_50MHz, .GPIO_Mode = GPIO_Mode_AF, .GPIO_OType = GPIO_OType_PP, .GPIO_PuPd = GPIO_PuPd_UP }, }, .slave_count = 2, .ssel = { { .gpio = GPIOA, .init = { .GPIO_Pin = GPIO_Pin_4, .GPIO_Speed = GPIO_Speed_50MHz, .GPIO_Mode = GPIO_Mode_OUT, .GPIO_OType = GPIO_OType_PP, .GPIO_PuPd = GPIO_PuPd_UP } }, { .gpio = GPIOC, .init = { .GPIO_Pin = GPIO_Pin_5, .GPIO_Speed = GPIO_Speed_50MHz, .GPIO_Mode = GPIO_Mode_OUT, .GPIO_OType = GPIO_OType_PP, .GPIO_PuPd = GPIO_PuPd_UP } }, } }; static uint32_t pios_spi_accel_id; void PIOS_SPI_accel_irq_handler(void) { /* Call into the generic code to handle the IRQ for this specific device */ PIOS_SPI_IRQ_Handler(pios_spi_accel_id); } /* SPI2 Interface * - Used for gyro communications */ void PIOS_SPI_GYRO_irq_handler(void); void DMA1_Stream3_IRQHandler(void) __attribute__((alias("PIOS_SPI_gyro_irq_handler"))); void DMA1_Stream4_IRQHandler(void) __attribute__((alias("PIOS_SPI_gyro_irq_handler"))); static const struct pios_spi_cfg pios_spi_gyro_cfg = { .regs = SPI2, .remap = GPIO_AF_SPI2, .init = { .SPI_Mode = SPI_Mode_Master, .SPI_Direction = SPI_Direction_2Lines_FullDuplex, .SPI_DataSize = SPI_DataSize_8b, .SPI_NSS = SPI_NSS_Soft, .SPI_FirstBit = SPI_FirstBit_MSB, .SPI_CRCPolynomial = 7, .SPI_CPOL = SPI_CPOL_High, .SPI_CPHA = SPI_CPHA_2Edge, .SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_8, }, .use_crc = false, .dma = { .irq = { // Note this is the stream ID that triggers interrupts (in this case RX) .flags = (DMA_IT_TCIF3 | DMA_IT_TEIF3 | DMA_IT_HTIF3), .init = { .NVIC_IRQChannel = DMA1_Stream3_IRQn, .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH, .NVIC_IRQChannelSubPriority = 0, .NVIC_IRQChannelCmd = ENABLE, }, }, .rx = { .channel = DMA1_Stream3, .init = { .DMA_Channel = DMA_Channel_0, .DMA_PeripheralBaseAddr = (uint32_t) & (SPI2->DR), .DMA_DIR = DMA_DIR_PeripheralToMemory, .DMA_PeripheralInc = DMA_PeripheralInc_Disable, .DMA_MemoryInc = DMA_MemoryInc_Enable, .DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte, .DMA_MemoryDataSize = DMA_MemoryDataSize_Byte, .DMA_Mode = DMA_Mode_Normal, .DMA_Priority = DMA_Priority_Medium, //TODO: Enable FIFO .DMA_FIFOMode = DMA_FIFOMode_Disable, .DMA_FIFOThreshold = DMA_FIFOThreshold_Full, .DMA_MemoryBurst = DMA_MemoryBurst_Single, .DMA_PeripheralBurst = DMA_PeripheralBurst_Single, }, }, .tx = { .channel = DMA1_Stream4, .init = { .DMA_Channel = DMA_Channel_0, .DMA_PeripheralBaseAddr = (uint32_t) & (SPI2->DR), .DMA_DIR = DMA_DIR_MemoryToPeripheral, .DMA_PeripheralInc = DMA_PeripheralInc_Disable, .DMA_MemoryInc = DMA_MemoryInc_Enable, .DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte, .DMA_MemoryDataSize = DMA_MemoryDataSize_Byte, .DMA_Mode = DMA_Mode_Normal, .DMA_Priority = DMA_Priority_Medium, .DMA_FIFOMode = DMA_FIFOMode_Disable, .DMA_FIFOThreshold = DMA_FIFOThreshold_Full, .DMA_MemoryBurst = DMA_MemoryBurst_Single, .DMA_PeripheralBurst = DMA_PeripheralBurst_Single, }, }, }, .sclk = { .gpio = GPIOB, .init = { .GPIO_Pin = GPIO_Pin_13, .GPIO_Speed = GPIO_Speed_100MHz, .GPIO_Mode = GPIO_Mode_AF, .GPIO_OType = GPIO_OType_PP, .GPIO_PuPd = GPIO_PuPd_NOPULL }, }, .miso = { .gpio = GPIOB, .init = { .GPIO_Pin = GPIO_Pin_14, .GPIO_Speed = GPIO_Speed_50MHz, .GPIO_Mode = GPIO_Mode_AF, .GPIO_OType = GPIO_OType_PP, .GPIO_PuPd = GPIO_PuPd_NOPULL }, }, .mosi = { .gpio = GPIOB, .init = { .GPIO_Pin = GPIO_Pin_15, .GPIO_Speed = GPIO_Speed_50MHz, .GPIO_Mode = GPIO_Mode_AF, .GPIO_OType = GPIO_OType_PP, .GPIO_PuPd = GPIO_PuPd_NOPULL }, }, .slave_count = 1, .ssel = { { .gpio = GPIOB, .init = { .GPIO_Pin = GPIO_Pin_12, .GPIO_Speed = GPIO_Speed_50MHz, .GPIO_Mode = GPIO_Mode_OUT, .GPIO_OType = GPIO_OType_PP, .GPIO_PuPd = GPIO_PuPd_UP }, } }, }; uint32_t pios_spi_gyro_id; void PIOS_SPI_gyro_irq_handler(void) { /* Call into the generic code to handle the IRQ for this specific device */ PIOS_SPI_IRQ_Handler(pios_spi_gyro_id); } #if !defined(PIOS_FLASH_ON_ACCEL) /* SPI3 Interface * - Used for flash communications */ void PIOS_SPI_flash_irq_handler(void); void DMA1_Stream0_IRQHandler(void) __attribute__((alias("PIOS_SPI_flash_irq_handler"))); void DMA1_Stream5_IRQHandler(void) __attribute__((alias("PIOS_SPI_flash_irq_handler"))); static const struct pios_spi_cfg pios_spi_flash_cfg = { .regs = SPI3, .remap = GPIO_AF_SPI3, .init = { .SPI_Mode = SPI_Mode_Master, .SPI_Direction = SPI_Direction_2Lines_FullDuplex, .SPI_DataSize = SPI_DataSize_8b, .SPI_NSS = SPI_NSS_Soft, .SPI_FirstBit = SPI_FirstBit_MSB, .SPI_CRCPolynomial = 7, .SPI_CPOL = SPI_CPOL_High, .SPI_CPHA = SPI_CPHA_2Edge, .SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_2, }, .use_crc = false, .dma = { .irq = { // Note this is the stream ID that triggers interrupts (in this case RX) .flags = (DMA_IT_TCIF0 | DMA_IT_TEIF0 | DMA_IT_HTIF0), .init = { .NVIC_IRQChannel = DMA1_Stream0_IRQn, .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH, .NVIC_IRQChannelSubPriority = 0, .NVIC_IRQChannelCmd = ENABLE, }, }, .rx = { .channel = DMA1_Stream0, .init = { .DMA_Channel = DMA_Channel_0, .DMA_PeripheralBaseAddr = (uint32_t) & (SPI3->DR), .DMA_DIR = DMA_DIR_PeripheralToMemory, .DMA_PeripheralInc = DMA_PeripheralInc_Disable, .DMA_MemoryInc = DMA_MemoryInc_Enable, .DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte, .DMA_MemoryDataSize = DMA_MemoryDataSize_Byte, .DMA_Mode = DMA_Mode_Normal, .DMA_Priority = DMA_Priority_Medium, //TODO: Enable FIFO .DMA_FIFOMode = DMA_FIFOMode_Disable, .DMA_FIFOThreshold = DMA_FIFOThreshold_Full, .DMA_MemoryBurst = DMA_MemoryBurst_Single, .DMA_PeripheralBurst = DMA_PeripheralBurst_Single, }, }, .tx = { .channel = DMA1_Stream5, .init = { .DMA_Channel = DMA_Channel_0, .DMA_PeripheralBaseAddr = (uint32_t) & (SPI3->DR), .DMA_DIR = DMA_DIR_MemoryToPeripheral, .DMA_PeripheralInc = DMA_PeripheralInc_Disable, .DMA_MemoryInc = DMA_MemoryInc_Enable, .DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte, .DMA_MemoryDataSize = DMA_MemoryDataSize_Byte, .DMA_Mode = DMA_Mode_Normal, .DMA_Priority = DMA_Priority_Medium, .DMA_FIFOMode = DMA_FIFOMode_Disable, .DMA_FIFOThreshold = DMA_FIFOThreshold_Full, .DMA_MemoryBurst = DMA_MemoryBurst_Single, .DMA_PeripheralBurst = DMA_PeripheralBurst_Single, }, }, }, .sclk = { .gpio = GPIOC, .init = { .GPIO_Pin = GPIO_Pin_10, .GPIO_Speed = GPIO_Speed_100MHz, .GPIO_Mode = GPIO_Mode_AF, .GPIO_OType = GPIO_OType_PP, .GPIO_PuPd = GPIO_PuPd_NOPULL }, }, .miso = { .gpio = GPIOC, .init = { .GPIO_Pin = GPIO_Pin_11, .GPIO_Speed = GPIO_Speed_50MHz, .GPIO_Mode = GPIO_Mode_AF, .GPIO_OType = GPIO_OType_PP, .GPIO_PuPd = GPIO_PuPd_NOPULL }, }, .mosi = { .gpio = GPIOC, .init = { .GPIO_Pin = GPIO_Pin_12, .GPIO_Speed = GPIO_Speed_50MHz, .GPIO_Mode = GPIO_Mode_AF, .GPIO_OType = GPIO_OType_PP, .GPIO_PuPd = GPIO_PuPd_NOPULL }, }, .slave_count = 1, .ssel = { { .gpio = GPIOD, .init = { .GPIO_Pin = GPIO_Pin_2, .GPIO_Speed = GPIO_Speed_50MHz, .GPIO_Mode = GPIO_Mode_OUT, .GPIO_OType = GPIO_OType_PP, .GPIO_PuPd = GPIO_PuPd_UP }, } }, }; uint32_t pios_spi_flash_id; void PIOS_SPI_flash_irq_handler(void) { /* Call into the generic code to handle the IRQ for this specific device */ PIOS_SPI_IRQ_Handler(pios_spi_flash_id); } #endif /* PIOS_FLASH_ON_ACCEL */ #if defined(PIOS_OVERO_SPI) /* SPI3 Interface * - Used for flash communications */ void PIOS_SPI_overo_irq_handler(void); void DMA1_Stream0_IRQHandler(void) __attribute__((alias("PIOS_SPI_overo_irq_handler"))); void DMA1_Stream7_IRQHandler(void) __attribute__((alias("PIOS_SPI_overo_irq_handler"))); static const struct pios_spi_cfg pios_spi_overo_cfg = { .regs = SPI3, .remap = GPIO_AF_SPI3, .init = { .SPI_Mode = SPI_Mode_Slave, .SPI_Direction = SPI_Direction_2Lines_FullDuplex, .SPI_DataSize = SPI_DataSize_8b, .SPI_NSS = SPI_NSS_Hard, .SPI_FirstBit = SPI_FirstBit_MSB, .SPI_CRCPolynomial = 7, .SPI_CPOL = SPI_CPOL_High, .SPI_CPHA = SPI_CPHA_2Edge, .SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_2, }, .use_crc = false, .dma = { .irq = { // Note this is the stream ID that triggers interrupts (in this case RX) .flags = (DMA_IT_TCIF0 | DMA_IT_TEIF0 | DMA_IT_HTIF0), .init = { .NVIC_IRQChannel = DMA1_Stream0_IRQn, .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH, .NVIC_IRQChannelSubPriority = 0, .NVIC_IRQChannelCmd = ENABLE, }, }, .rx = { .channel = DMA1_Stream0, .init = { .DMA_Channel = DMA_Channel_0, .DMA_PeripheralBaseAddr = (uint32_t) & (SPI3->DR), .DMA_DIR = DMA_DIR_PeripheralToMemory, .DMA_PeripheralInc = DMA_PeripheralInc_Disable, .DMA_MemoryInc = DMA_MemoryInc_Enable, .DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte, .DMA_MemoryDataSize = DMA_MemoryDataSize_Byte, .DMA_Mode = DMA_Mode_Normal, .DMA_Priority = DMA_Priority_Medium, //TODO: Enable FIFO .DMA_FIFOMode = DMA_FIFOMode_Disable, .DMA_FIFOThreshold = DMA_FIFOThreshold_Full, .DMA_MemoryBurst = DMA_MemoryBurst_Single, .DMA_PeripheralBurst = DMA_PeripheralBurst_Single, }, }, .tx = { .channel = DMA1_Stream7, .init = { .DMA_Channel = DMA_Channel_0, .DMA_PeripheralBaseAddr = (uint32_t) & (SPI3->DR), .DMA_DIR = DMA_DIR_MemoryToPeripheral, .DMA_PeripheralInc = DMA_PeripheralInc_Disable, .DMA_MemoryInc = DMA_MemoryInc_Enable, .DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte, .DMA_MemoryDataSize = DMA_MemoryDataSize_Byte, .DMA_Mode = DMA_Mode_Normal, .DMA_Priority = DMA_Priority_Medium, .DMA_FIFOMode = DMA_FIFOMode_Disable, .DMA_FIFOThreshold = DMA_FIFOThreshold_Full, .DMA_MemoryBurst = DMA_MemoryBurst_Single, .DMA_PeripheralBurst = DMA_PeripheralBurst_Single, }, }, }, .sclk = { .gpio = GPIOC, .init = { .GPIO_Pin = GPIO_Pin_10, .GPIO_Speed = GPIO_Speed_100MHz, .GPIO_Mode = GPIO_Mode_AF, .GPIO_OType = GPIO_OType_PP, .GPIO_PuPd = GPIO_PuPd_NOPULL }, }, .miso = { .gpio = GPIOC, .init = { .GPIO_Pin = GPIO_Pin_11, .GPIO_Speed = GPIO_Speed_50MHz, .GPIO_Mode = GPIO_Mode_AF, .GPIO_OType = GPIO_OType_PP, .GPIO_PuPd = GPIO_PuPd_NOPULL }, }, .mosi = { .gpio = GPIOC, .init = { .GPIO_Pin = GPIO_Pin_12, .GPIO_Speed = GPIO_Speed_50MHz, .GPIO_Mode = GPIO_Mode_AF, .GPIO_OType = GPIO_OType_PP, .GPIO_PuPd = GPIO_PuPd_NOPULL }, }, .slave_count = 1, .ssel = { { .gpio = GPIOA, .init = { .GPIO_Pin = GPIO_Pin_15, .GPIO_Speed = GPIO_Speed_50MHz, .GPIO_Mode = GPIO_Mode_OUT, .GPIO_OType = GPIO_OType_PP, .GPIO_PuPd = GPIO_PuPd_UP }, } }, }; uint32_t pios_spi_overo_id; void PIOS_SPI_overo_irq_handler(void) { /* Call into the generic code to handle the IRQ for this specific device */ PIOS_SPI_IRQ_Handler(pios_spi_overo_id); } #else uint32_t pios_spi_overo_id = 0; #endif /* PIOS_OVERO_SPI */ #endif /* PIOS_INCLUDE_SPI */ #include #ifdef PIOS_INCLUDE_COM_TELEM /* * Telemetry on main USART */ static const struct pios_usart_cfg pios_usart_telem_cfg = { .regs = USART2, .remap = GPIO_AF_USART2, .init = { .USART_BaudRate = 57600, .USART_WordLength = USART_WordLength_8b, .USART_Parity = USART_Parity_No, .USART_StopBits = USART_StopBits_1, .USART_HardwareFlowControl = USART_HardwareFlowControl_None, .USART_Mode = USART_Mode_Rx | USART_Mode_Tx, }, .irq = { .init = { .NVIC_IRQChannel = USART2_IRQn, .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, .NVIC_IRQChannelSubPriority = 0, .NVIC_IRQChannelCmd = ENABLE, }, }, .rx = { .gpio = GPIOD, .init = { .GPIO_Pin = GPIO_Pin_6, .GPIO_Speed = GPIO_Speed_2MHz, .GPIO_Mode = GPIO_Mode_AF, .GPIO_OType = GPIO_OType_PP, .GPIO_PuPd = GPIO_PuPd_UP }, }, .tx = { .gpio = GPIOD, .init = { .GPIO_Pin = GPIO_Pin_5, .GPIO_Speed = GPIO_Speed_2MHz, .GPIO_Mode = GPIO_Mode_AF, .GPIO_OType = GPIO_OType_PP, .GPIO_PuPd = GPIO_PuPd_UP }, }, }; #endif /* PIOS_COM_TELEM */ #ifdef PIOS_INCLUDE_GPS /* * GPS USART */ static const struct pios_usart_cfg pios_usart_gps_cfg = { .regs = USART1, .remap = GPIO_AF_USART1, .init = { .USART_BaudRate = 57600, .USART_WordLength = USART_WordLength_8b, .USART_Parity = USART_Parity_No, .USART_StopBits = USART_StopBits_1, .USART_HardwareFlowControl = USART_HardwareFlowControl_None, .USART_Mode = USART_Mode_Rx | USART_Mode_Tx, }, .irq = { .init = { .NVIC_IRQChannel = USART1_IRQn, .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, .NVIC_IRQChannelSubPriority = 0, .NVIC_IRQChannelCmd = ENABLE, }, }, .rx = { .gpio = GPIOA, .init = { .GPIO_Pin = GPIO_Pin_10, .GPIO_Speed = GPIO_Speed_2MHz, .GPIO_Mode = GPIO_Mode_AF, .GPIO_OType = GPIO_OType_PP, .GPIO_PuPd = GPIO_PuPd_UP }, }, .tx = { .gpio = GPIOA, .init = { .GPIO_Pin = GPIO_Pin_9, .GPIO_Speed = GPIO_Speed_2MHz, .GPIO_Mode = GPIO_Mode_AF, .GPIO_OType = GPIO_OType_PP, .GPIO_PuPd = GPIO_PuPd_UP }, }, }; #endif /* PIOS_INCLUDE_GPS */ #ifdef PIOS_INCLUDE_COM_AUX /* * AUX USART (UART label on rev2) */ static const struct pios_usart_cfg pios_usart_aux_cfg = { .regs = USART6, .remap = GPIO_AF_USART6, .init = { .USART_BaudRate = 57600, .USART_WordLength = USART_WordLength_8b, .USART_Parity = USART_Parity_No, .USART_StopBits = USART_StopBits_1, .USART_HardwareFlowControl = USART_HardwareFlowControl_None, .USART_Mode = USART_Mode_Rx | USART_Mode_Tx, }, .irq = { .init = { .NVIC_IRQChannel = USART6_IRQn, .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, .NVIC_IRQChannelSubPriority = 0, .NVIC_IRQChannelCmd = ENABLE, }, }, .rx = { .gpio = GPIOC, .init = { .GPIO_Pin = GPIO_Pin_7, .GPIO_Speed = GPIO_Speed_2MHz, .GPIO_Mode = GPIO_Mode_AF, .GPIO_OType = GPIO_OType_PP, .GPIO_PuPd = GPIO_PuPd_UP }, }, .tx = { .gpio = GPIOC, .init = { .GPIO_Pin = GPIO_Pin_6, .GPIO_Speed = GPIO_Speed_2MHz, .GPIO_Mode = GPIO_Mode_AF, .GPIO_OType = GPIO_OType_PP, .GPIO_PuPd = GPIO_PuPd_UP }, }, }; #endif /* PIOS_COM_AUX */ #ifdef PIOS_INCLUDE_COM_AUXSBUS /* * AUX USART SBUS ( UART/ S Bus label on rev2) */ static const struct pios_usart_cfg pios_usart_auxsbus_cfg = { .regs = UART4, .remap = GPIO_AF_UART4, .init = { .USART_BaudRate = 57600, .USART_WordLength = USART_WordLength_8b, .USART_Parity = USART_Parity_No, .USART_StopBits = USART_StopBits_1, .USART_HardwareFlowControl = USART_HardwareFlowControl_None, .USART_Mode = USART_Mode_Rx | USART_Mode_Tx, }, .irq = { .init = { .NVIC_IRQChannel = UART4_IRQn, .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, .NVIC_IRQChannelSubPriority = 0, .NVIC_IRQChannelCmd = ENABLE, }, }, .rx = { .gpio = GPIOA, .init = { .GPIO_Pin = GPIO_Pin_1, .GPIO_Speed = GPIO_Speed_2MHz, .GPIO_Mode = GPIO_Mode_AF, .GPIO_OType = GPIO_OType_PP, .GPIO_PuPd = GPIO_PuPd_UP }, }, .tx = { .gpio = GPIOA, .init = { .GPIO_Pin = GPIO_Pin_0, .GPIO_Speed = GPIO_Speed_2MHz, .GPIO_Mode = GPIO_Mode_AF, .GPIO_OType = GPIO_OType_PP, .GPIO_PuPd = GPIO_PuPd_UP }, }, }; #endif /* PIOS_INCLUDE_COM_AUXSBUS */ #ifdef PIOS_INCLUDE_COM_FLEXI /* * FLEXI PORT */ static const struct pios_usart_cfg pios_usart_flexi_cfg = { .regs = USART3, .remap = GPIO_AF_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_10, .GPIO_Speed = GPIO_Speed_2MHz, .GPIO_Mode = GPIO_Mode_AF, .GPIO_OType = GPIO_OType_PP, .GPIO_PuPd = GPIO_PuPd_UP }, }, .tx = { .gpio = GPIOB, .init = { .GPIO_Pin = GPIO_Pin_11, .GPIO_Speed = GPIO_Speed_2MHz, .GPIO_Mode = GPIO_Mode_AF, .GPIO_OType = GPIO_OType_PP, .GPIO_PuPd = GPIO_PuPd_UP }, }, }; #endif /* PIOS_INCLUDE_COM_FLEXI */ #if defined(PIOS_INCLUDE_DSM) /* * Spektrum/JR DSM USART */ #include static const struct pios_usart_cfg pios_usart_dsm_aux_cfg = { .regs = USART6, .remap = GPIO_AF_USART6, .init = { .USART_BaudRate = 115200, .USART_WordLength = USART_WordLength_8b, .USART_Parity = USART_Parity_No, .USART_StopBits = USART_StopBits_1, .USART_HardwareFlowControl = USART_HardwareFlowControl_None, .USART_Mode = USART_Mode_Rx, }, .irq = { .init = { .NVIC_IRQChannel = USART6_IRQn, .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH, .NVIC_IRQChannelSubPriority = 0, .NVIC_IRQChannelCmd = ENABLE, }, }, .rx = { .gpio = GPIOC, .init = { .GPIO_Pin = GPIO_Pin_7, .GPIO_Speed = GPIO_Speed_2MHz, .GPIO_Mode = GPIO_Mode_AF, .GPIO_OType = GPIO_OType_PP, .GPIO_PuPd = GPIO_PuPd_UP }, }, .tx = { .gpio = GPIOC, .init = { .GPIO_Pin = GPIO_Pin_6, .GPIO_Speed = GPIO_Speed_2MHz, .GPIO_Mode = GPIO_Mode_AF, .GPIO_OType = GPIO_OType_PP, .GPIO_PuPd = GPIO_PuPd_UP }, }, }; static const struct pios_dsm_cfg pios_dsm_aux_cfg = { .bind = { .gpio = GPIOC, .init = { .GPIO_Pin = GPIO_Pin_7, .GPIO_Speed = GPIO_Speed_2MHz, .GPIO_Mode = GPIO_Mode_OUT, .GPIO_OType = GPIO_OType_PP, .GPIO_PuPd = GPIO_PuPd_NOPULL }, }, }; static const struct pios_usart_cfg pios_usart_dsm_auxsbus_cfg = { .regs = UART4, .remap = GPIO_AF_UART4, .init = { .USART_BaudRate = 115200, .USART_WordLength = USART_WordLength_8b, .USART_Parity = USART_Parity_No, .USART_StopBits = USART_StopBits_1, .USART_HardwareFlowControl = USART_HardwareFlowControl_None, .USART_Mode = USART_Mode_Rx, }, .irq = { .init = { .NVIC_IRQChannel = UART4_IRQn, .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, .NVIC_IRQChannelSubPriority = 0, .NVIC_IRQChannelCmd = ENABLE, }, }, .rx = { .gpio = GPIOA, .init = { .GPIO_Pin = GPIO_Pin_1, .GPIO_Speed = GPIO_Speed_2MHz, .GPIO_Mode = GPIO_Mode_AF, .GPIO_OType = GPIO_OType_PP, .GPIO_PuPd = GPIO_PuPd_UP }, }, .tx = { .gpio = GPIOA, .init = { .GPIO_Pin = GPIO_Pin_0, .GPIO_Speed = GPIO_Speed_2MHz, .GPIO_Mode = GPIO_Mode_AF, .GPIO_OType = GPIO_OType_PP, .GPIO_PuPd = GPIO_PuPd_UP }, }, }; static const struct pios_dsm_cfg pios_dsm_auxsbus_cfg = { .bind = { .gpio = GPIOA, .init = { .GPIO_Pin = GPIO_Pin_1, .GPIO_Speed = GPIO_Speed_2MHz, .GPIO_Mode = GPIO_Mode_OUT, .GPIO_OType = GPIO_OType_PP, .GPIO_PuPd = GPIO_PuPd_NOPULL }, }, }; static const struct pios_usart_cfg pios_usart_dsm_flexi_cfg = { .regs = USART3, .remap = GPIO_AF_USART3, .init = { .USART_BaudRate = 115200, .USART_WordLength = USART_WordLength_8b, .USART_Parity = USART_Parity_No, .USART_StopBits = USART_StopBits_1, .USART_HardwareFlowControl = USART_HardwareFlowControl_None, .USART_Mode = USART_Mode_Rx, }, .irq = { .init = { .NVIC_IRQChannel = USART3_IRQn, .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH, .NVIC_IRQChannelSubPriority = 0, .NVIC_IRQChannelCmd = ENABLE, }, }, .rx = { .gpio = GPIOB, .init = { .GPIO_Pin = GPIO_Pin_11, .GPIO_Speed = GPIO_Speed_2MHz, .GPIO_Mode = GPIO_Mode_AF, .GPIO_OType = GPIO_OType_PP, .GPIO_PuPd = GPIO_PuPd_UP }, }, .tx = { .gpio = GPIOB, .init = { .GPIO_Pin = GPIO_Pin_10, .GPIO_Speed = GPIO_Speed_2MHz, .GPIO_Mode = GPIO_Mode_AF, .GPIO_OType = GPIO_OType_PP, .GPIO_PuPd = GPIO_PuPd_UP }, }, }; static const struct pios_dsm_cfg pios_dsm_flexi_cfg = { .bind = { .gpio = GPIOB, .init = { .GPIO_Pin = GPIO_Pin_11, .GPIO_Speed = GPIO_Speed_2MHz, .GPIO_Mode = GPIO_Mode_OUT, .GPIO_OType = GPIO_OType_PP, .GPIO_PuPd = GPIO_PuPd_NOPULL }, }, }; #endif /* PIOS_INCLUDE_DSM */ #if defined(PIOS_INCLUDE_SBUS) /* * S.Bus USART */ #include static const struct pios_usart_cfg pios_usart_sbus_auxsbus_cfg = { .regs = UART4, .init = { .USART_BaudRate = 100000, .USART_WordLength = USART_WordLength_8b, .USART_Parity = USART_Parity_Even, .USART_StopBits = USART_StopBits_2, .USART_HardwareFlowControl = USART_HardwareFlowControl_None, .USART_Mode = USART_Mode_Rx, }, .irq = { .init = { .NVIC_IRQChannel = UART4_IRQn, .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH, .NVIC_IRQChannelSubPriority = 0, .NVIC_IRQChannelCmd = ENABLE, }, }, .rx = { .gpio = GPIOA, .init = { .GPIO_Pin = GPIO_Pin_1, .GPIO_Speed = GPIO_Speed_2MHz, .GPIO_Mode = GPIO_Mode_AF, .GPIO_OType = GPIO_OType_PP, .GPIO_PuPd = GPIO_PuPd_UP }, }, .tx = { .gpio = GPIOA, .init = { .GPIO_Pin = GPIO_Pin_0, .GPIO_Speed = GPIO_Speed_2MHz, .GPIO_Mode = GPIO_Mode_OUT, .GPIO_OType = GPIO_OType_PP, .GPIO_PuPd = GPIO_PuPd_NOPULL }, }, }; static const struct pios_sbus_cfg pios_sbus_cfg = { /* Inverter configuration */ .inv = { .gpio = GPIOC, .init = { .GPIO_Pin = GPIO_Pin_3, .GPIO_Mode = GPIO_Mode_OUT, .GPIO_OType = GPIO_OType_PP, .GPIO_Speed = GPIO_Speed_2MHz, }, }, .gpio_clk_func = RCC_AHB1PeriphClockCmd, .gpio_clk_periph = RCC_AHB1Periph_GPIOB, .gpio_inv_enable = Bit_SET, }; #endif /* PIOS_INCLUDE_SBUS */ #if defined(PIOS_INCLUDE_COM) #include #endif /* PIOS_INCLUDE_COM */ #if defined(PIOS_INCLUDE_I2C) #include /* * I2C Adapters */ void PIOS_I2C_mag_adapter_ev_irq_handler(void); void PIOS_I2C_mag_adapter_er_irq_handler(void); void I2C1_EV_IRQHandler() __attribute__ ((alias("PIOS_I2C_mag_adapter_ev_irq_handler"))); void I2C1_ER_IRQHandler() __attribute__ ((alias("PIOS_I2C_mag_adapter_er_irq_handler"))); static const struct pios_i2c_adapter_cfg pios_i2c_mag_adapter_cfg = { .regs = I2C1, .remap = GPIO_AF_I2C1, .init = { .I2C_Mode = I2C_Mode_I2C, .I2C_OwnAddress1 = 0, .I2C_Ack = I2C_Ack_Enable, .I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit, .I2C_DutyCycle = I2C_DutyCycle_2, .I2C_ClockSpeed = 400000, /* bits/s */ }, .transfer_timeout_ms = 50, .scl = { .gpio = GPIOB, .init = { .GPIO_Pin = GPIO_Pin_6, .GPIO_Mode = GPIO_Mode_AF, .GPIO_Speed = GPIO_Speed_50MHz, .GPIO_OType = GPIO_OType_OD, .GPIO_PuPd = GPIO_PuPd_NOPULL, }, }, .sda = { .gpio = GPIOB, .init = { .GPIO_Pin = GPIO_Pin_7, .GPIO_Mode = GPIO_Mode_AF, .GPIO_Speed = GPIO_Speed_50MHz, .GPIO_OType = GPIO_OType_OD, .GPIO_PuPd = GPIO_PuPd_NOPULL, }, }, .event = { .flags = 0, /* FIXME: check this */ .init = { .NVIC_IRQChannel = I2C1_EV_IRQn, .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST, .NVIC_IRQChannelSubPriority = 0, .NVIC_IRQChannelCmd = ENABLE, }, }, .error = { .flags = 0, /* FIXME: check this */ .init = { .NVIC_IRQChannel = I2C1_ER_IRQn, .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST, .NVIC_IRQChannelSubPriority = 0, .NVIC_IRQChannelCmd = ENABLE, }, }, }; uint32_t pios_i2c_mag_adapter_id; void PIOS_I2C_mag_adapter_ev_irq_handler(void) { /* Call into the generic code to handle the IRQ for this specific device */ PIOS_I2C_EV_IRQ_Handler(pios_i2c_mag_adapter_id); } void PIOS_I2C_mag_adapter_er_irq_handler(void) { /* Call into the generic code to handle the IRQ for this specific device */ PIOS_I2C_ER_IRQ_Handler(pios_i2c_mag_adapter_id); } void PIOS_I2C_flexiport_adapter_ev_irq_handler(void); void PIOS_I2C_flexiport_adapter_er_irq_handler(void); void I2C2_EV_IRQHandler() __attribute__ ((alias ("PIOS_I2C_flexiport_adapter_ev_irq_handler"))); void I2C2_ER_IRQHandler() __attribute__ ((alias ("PIOS_I2C_flexiport_adapter_er_irq_handler"))); static const struct pios_i2c_adapter_cfg pios_i2c_flexiport_adapter_cfg = { .regs = I2C2, .remap = GPIO_AF_I2C2, .init = { .I2C_Mode = I2C_Mode_I2C, .I2C_OwnAddress1 = 0, .I2C_Ack = I2C_Ack_Enable, .I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit, .I2C_DutyCycle = I2C_DutyCycle_2, .I2C_ClockSpeed = 400000, /* bits/s */ }, .transfer_timeout_ms = 50, .scl = { .gpio = GPIOB, .init = { .GPIO_Pin = GPIO_Pin_10, .GPIO_Mode = GPIO_Mode_AF, .GPIO_Speed = GPIO_Speed_50MHz, .GPIO_OType = GPIO_OType_OD, .GPIO_PuPd = GPIO_PuPd_NOPULL, }, }, .sda = { .gpio = GPIOB, .init = { .GPIO_Pin = GPIO_Pin_11, .GPIO_Mode = GPIO_Mode_AF, .GPIO_Speed = GPIO_Speed_50MHz, .GPIO_OType = GPIO_OType_OD, .GPIO_PuPd = GPIO_PuPd_NOPULL, }, }, .event = { .flags = 0, /* FIXME: check this */ .init = { .NVIC_IRQChannel = I2C2_EV_IRQn, .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST, .NVIC_IRQChannelSubPriority = 0, .NVIC_IRQChannelCmd = ENABLE, }, }, .error = { .flags = 0, /* FIXME: check this */ .init = { .NVIC_IRQChannel = I2C2_ER_IRQn, .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST, .NVIC_IRQChannelSubPriority = 0, .NVIC_IRQChannelCmd = ENABLE, }, }, }; uint32_t pios_i2c_flexiport_adapter_id; void PIOS_I2C_flexiport_adapter_ev_irq_handler(void) { /* Call into the generic code to handle the IRQ for this specific device */ PIOS_I2C_EV_IRQ_Handler(pios_i2c_flexiport_adapter_id); } void PIOS_I2C_flexiport_adapter_er_irq_handler(void) { /* Call into the generic code to handle the IRQ for this specific device */ PIOS_I2C_ER_IRQ_Handler(pios_i2c_flexiport_adapter_id); } void PIOS_I2C_pressure_adapter_ev_irq_handler(void); void PIOS_I2C_pressure_adapter_er_irq_handler(void); void I2C3_EV_IRQHandler() __attribute__ ((alias ("PIOS_I2C_pressure_adapter_ev_irq_handler"))); void I2C3_ER_IRQHandler() __attribute__ ((alias ("PIOS_I2C_pressure_adapter_er_irq_handler"))); static const struct pios_i2c_adapter_cfg pios_i2c_pressure_adapter_cfg = { .regs = I2C3, .remap = GPIO_AF_I2C3, .init = { .I2C_Mode = I2C_Mode_I2C, .I2C_OwnAddress1 = 0, .I2C_Ack = I2C_Ack_Enable, .I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit, .I2C_DutyCycle = I2C_DutyCycle_2, .I2C_ClockSpeed = 40000, /* bits/s */ }, .transfer_timeout_ms = 50, .scl = { .gpio = GPIOA, .init = { .GPIO_Pin = GPIO_Pin_8, .GPIO_Mode = GPIO_Mode_AF, .GPIO_Speed = GPIO_Speed_50MHz, .GPIO_OType = GPIO_OType_OD, .GPIO_PuPd = GPIO_PuPd_NOPULL, }, }, .sda = { .gpio = GPIOC, .init = { .GPIO_Pin = GPIO_Pin_9, .GPIO_Mode = GPIO_Mode_AF, .GPIO_Speed = GPIO_Speed_50MHz, .GPIO_OType = GPIO_OType_OD, .GPIO_PuPd = GPIO_PuPd_NOPULL, }, }, .event = { .flags = 0, /* FIXME: check this */ .init = { .NVIC_IRQChannel = I2C3_EV_IRQn, .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST, .NVIC_IRQChannelSubPriority = 0, .NVIC_IRQChannelCmd = ENABLE, }, }, .error = { .flags = 0, /* FIXME: check this */ .init = { .NVIC_IRQChannel = I2C3_ER_IRQn, .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST, .NVIC_IRQChannelSubPriority = 0, .NVIC_IRQChannelCmd = ENABLE, }, }, }; uint32_t pios_i2c_pressure_adapter_id; void PIOS_I2C_pressure_adapter_ev_irq_handler(void) { /* Call into the generic code to handle the IRQ for this specific device */ PIOS_I2C_EV_IRQ_Handler(pios_i2c_pressure_adapter_id); } void PIOS_I2C_pressure_adapter_er_irq_handler(void) { /* Call into the generic code to handle the IRQ for this specific device */ PIOS_I2C_ER_IRQ_Handler(pios_i2c_pressure_adapter_id); } #endif /* PIOS_INCLUDE_I2C */ #if defined(PIOS_INCLUDE_RTC) /* * Realtime Clock (RTC) */ #include void PIOS_RTC_IRQ_Handler (void); void RTC_WKUP_IRQHandler() __attribute__ ((alias ("PIOS_RTC_IRQ_Handler"))); static const struct pios_rtc_cfg pios_rtc_main_cfg = { .clksrc = RCC_RTCCLKSource_HSE_Div16, // Divide 8 Mhz crystal down to 1 // For some reason it's acting like crystal is 16 Mhz. This clock is then divided // by another 16 to give a nominal 62.5 khz clock .prescaler = 100, // Every 100 cycles gives 625 Hz .irq = { .init = { .NVIC_IRQChannel = RTC_WKUP_IRQn, .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, .NVIC_IRQChannelSubPriority = 0, .NVIC_IRQChannelCmd = ENABLE, }, }, }; void PIOS_RTC_IRQ_Handler (void) { PIOS_RTC_irq_handler (); } #endif #include "pios_tim_priv.h" static const TIM_TimeBaseInitTypeDef tim_3_5_time_base = { .TIM_Prescaler = (PIOS_PERIPHERAL_APB1_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 TIM_TimeBaseInitTypeDef tim_9_10_11_time_base = { .TIM_Prescaler = (PIOS_PERIPHERAL_APB2_CLOCK / 1000000) - 1, .TIM_ClockDivision = TIM_CKD_DIV1, .TIM_CounterMode = TIM_CounterMode_Up, .TIM_Period = ((1000000 / PIOS_SERVO_UPDATE_HZ) - 1), .TIM_RepetitionCounter = 0x0000, }; static const struct pios_tim_clock_cfg tim_3_cfg = { .timer = TIM3, .time_base_init = &tim_3_5_time_base, .irq = { .init = { .NVIC_IRQChannel = TIM3_IRQn, .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, .NVIC_IRQChannelSubPriority = 0, .NVIC_IRQChannelCmd = ENABLE, }, }, }; static const struct pios_tim_clock_cfg tim_5_cfg = { .timer = TIM5, .time_base_init = &tim_3_5_time_base, .irq = { .init = { .NVIC_IRQChannel = TIM5_IRQn, .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, .NVIC_IRQChannelSubPriority = 0, .NVIC_IRQChannelCmd = ENABLE, }, }, }; static const struct pios_tim_clock_cfg tim_9_cfg = { .timer = TIM9, .time_base_init = &tim_9_10_11_time_base, .irq = { .init = { .NVIC_IRQChannel = TIM1_BRK_TIM9_IRQn, .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, .NVIC_IRQChannelSubPriority = 0, .NVIC_IRQChannelCmd = ENABLE, }, }, }; static const struct pios_tim_clock_cfg tim_10_cfg = { .timer = TIM10, .time_base_init = &tim_9_10_11_time_base, .irq = { .init = { .NVIC_IRQChannel = TIM1_UP_TIM10_IRQn, .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, .NVIC_IRQChannelSubPriority = 0, .NVIC_IRQChannelCmd = ENABLE, }, }, }; static const struct pios_tim_clock_cfg tim_11_cfg = { .timer = TIM11, .time_base_init = &tim_9_10_11_time_base, .irq = { .init = { .NVIC_IRQChannel = TIM1_TRG_COM_TIM11_IRQn, .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, .NVIC_IRQChannelSubPriority = 0, .NVIC_IRQChannelCmd = ENABLE, }, }, }; // Set up timers that only have inputs on APB2 static const TIM_TimeBaseInitTypeDef tim_1_time_base = { .TIM_Prescaler = (PIOS_PERIPHERAL_APB2_CLOCK / 1000000) - 1, .TIM_ClockDivision = TIM_CKD_DIV1, .TIM_CounterMode = TIM_CounterMode_Up, .TIM_Period = 0xFFFF, .TIM_RepetitionCounter = 0x0000, }; // Set up timers that only have inputs on APB2 static const TIM_TimeBaseInitTypeDef tim_4_time_base = { .TIM_Prescaler = (PIOS_PERIPHERAL_APB1_CLOCK / 1000000) - 1, .TIM_ClockDivision = TIM_CKD_DIV1, .TIM_CounterMode = TIM_CounterMode_Up, .TIM_Period = 0xFFFF, .TIM_RepetitionCounter = 0x0000, }; static const struct pios_tim_clock_cfg tim_1_cfg = { .timer = TIM1, .time_base_init = &tim_1_time_base, .irq = { .init = { .NVIC_IRQChannel = TIM1_CC_IRQn, .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, .NVIC_IRQChannelSubPriority = 0, .NVIC_IRQChannelCmd = ENABLE, }, }, }; static const struct pios_tim_clock_cfg tim_4_cfg = { .timer = TIM4, .time_base_init = &tim_4_time_base, .irq = { .init = { .NVIC_IRQChannel = TIM4_IRQn, .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, .NVIC_IRQChannelSubPriority = 0, .NVIC_IRQChannelCmd = ENABLE, }, }, }; /** * Pios servo configuration structures */ #include static const struct pios_tim_channel pios_tim_servoport_all_pins[] = { { .timer = TIM9, .timer_chan = TIM_Channel_1, .pin = { .gpio = GPIOE, .init = { .GPIO_Pin = GPIO_Pin_5, .GPIO_Speed = GPIO_Speed_2MHz, .GPIO_Mode = GPIO_Mode_AF, .GPIO_OType = GPIO_OType_PP, .GPIO_PuPd = GPIO_PuPd_UP }, .pin_source = GPIO_PinSource5, }, .remap = GPIO_AF_TIM9, }, { .timer = TIM9, .timer_chan = TIM_Channel_2, .pin = { .gpio = GPIOE, .init = { .GPIO_Pin = GPIO_Pin_6, .GPIO_Speed = GPIO_Speed_2MHz, .GPIO_Mode = GPIO_Mode_AF, .GPIO_OType = GPIO_OType_PP, .GPIO_PuPd = GPIO_PuPd_UP }, .pin_source = GPIO_PinSource6, }, .remap = GPIO_AF_TIM9, }, { .timer = TIM11, .timer_chan = TIM_Channel_1, .pin = { .gpio = GPIOB, .init = { .GPIO_Pin = GPIO_Pin_9, .GPIO_Speed = GPIO_Speed_2MHz, .GPIO_Mode = GPIO_Mode_AF, .GPIO_OType = GPIO_OType_PP, .GPIO_PuPd = GPIO_PuPd_UP }, .pin_source = GPIO_PinSource9, }, .remap = GPIO_AF_TIM11, }, { .timer = TIM10, .timer_chan = TIM_Channel_1, .pin = { .gpio = GPIOB, .init = { .GPIO_Pin = GPIO_Pin_8, .GPIO_Speed = GPIO_Speed_2MHz, .GPIO_Mode = GPIO_Mode_AF, .GPIO_OType = GPIO_OType_PP, .GPIO_PuPd = GPIO_PuPd_UP }, .pin_source = GPIO_PinSource8, }, .remap = GPIO_AF_TIM10, }, { .timer = TIM5, .timer_chan = TIM_Channel_3, .pin = { .gpio = GPIOA, .init = { .GPIO_Pin = GPIO_Pin_2, .GPIO_Speed = GPIO_Speed_2MHz, .GPIO_Mode = GPIO_Mode_AF, .GPIO_OType = GPIO_OType_PP, .GPIO_PuPd = GPIO_PuPd_UP }, .pin_source = GPIO_PinSource2, }, .remap = GPIO_AF_TIM5, }, { .timer = TIM5, .timer_chan = TIM_Channel_4, .pin = { .gpio = GPIOA, .init = { .GPIO_Pin = GPIO_Pin_3, .GPIO_Speed = GPIO_Speed_2MHz, .GPIO_Mode = GPIO_Mode_AF, .GPIO_OType = GPIO_OType_PP, .GPIO_PuPd = GPIO_PuPd_UP }, .pin_source = GPIO_PinSource3, }, .remap = GPIO_AF_TIM5, }, { .timer = TIM3, .timer_chan = TIM_Channel_3, .pin = { .gpio = GPIOB, .init = { .GPIO_Pin = GPIO_Pin_0, .GPIO_Speed = GPIO_Speed_2MHz, .GPIO_Mode = GPIO_Mode_AF, .GPIO_OType = GPIO_OType_PP, .GPIO_PuPd = GPIO_PuPd_UP }, .pin_source = GPIO_PinSource0, }, .remap = GPIO_AF_TIM3, }, { .timer = TIM3, .timer_chan = TIM_Channel_4, .pin = { .gpio = GPIOB, .init = { .GPIO_Pin = GPIO_Pin_1, .GPIO_Speed = GPIO_Speed_2MHz, .GPIO_Mode = GPIO_Mode_AF, .GPIO_OType = GPIO_OType_PP, .GPIO_PuPd = GPIO_PuPd_UP }, .pin_source = GPIO_PinSource1, }, .remap = GPIO_AF_TIM3, }, }; const struct pios_servo_cfg pios_servo_cfg = { .tim_oc_init = { .TIM_OCMode = TIM_OCMode_PWM1, .TIM_OutputState = TIM_OutputState_Enable, .TIM_OutputNState = TIM_OutputNState_Disable, .TIM_Pulse = PIOS_SERVOS_INITIAL_POSITION, .TIM_OCPolarity = TIM_OCPolarity_High, .TIM_OCNPolarity = TIM_OCPolarity_High, .TIM_OCIdleState = TIM_OCIdleState_Reset, .TIM_OCNIdleState = TIM_OCNIdleState_Reset, }, .channels = pios_tim_servoport_all_pins, .num_channels = NELEMENTS(pios_tim_servoport_all_pins), }; /* * PWM Inputs */ #if defined(PIOS_INCLUDE_PWM) || defined(PIOS_INCLUDE_PPM) #include static const struct pios_tim_channel pios_tim_rcvrport_all_channels[] = { { .timer = TIM4, .timer_chan = TIM_Channel_4, .pin = { .gpio = GPIOD, .init = { .GPIO_Pin = GPIO_Pin_15, .GPIO_Speed = GPIO_Speed_2MHz, .GPIO_Mode = GPIO_Mode_AF, .GPIO_OType = GPIO_OType_PP, .GPIO_PuPd = GPIO_PuPd_UP }, .pin_source = GPIO_PinSource15, }, .remap = GPIO_AF_TIM4, }, { .timer = TIM4, .timer_chan = TIM_Channel_3, .pin = { .gpio = GPIOD, .init = { .GPIO_Pin = GPIO_Pin_14, .GPIO_Speed = GPIO_Speed_2MHz, .GPIO_Mode = GPIO_Mode_AF, .GPIO_OType = GPIO_OType_PP, .GPIO_PuPd = GPIO_PuPd_UP }, .pin_source = GPIO_PinSource14, }, .remap = GPIO_AF_TIM4, }, { .timer = TIM4, .timer_chan = TIM_Channel_2, .pin = { .gpio = GPIOD, .init = { .GPIO_Pin = GPIO_Pin_13, .GPIO_Speed = GPIO_Speed_2MHz, .GPIO_Mode = GPIO_Mode_AF, .GPIO_OType = GPIO_OType_PP, .GPIO_PuPd = GPIO_PuPd_UP }, .pin_source = GPIO_PinSource13, }, .remap = GPIO_AF_TIM4, }, { .timer = TIM4, .timer_chan = TIM_Channel_1, .pin = { .gpio = GPIOD, .init = { .GPIO_Pin = GPIO_Pin_12, .GPIO_Speed = GPIO_Speed_2MHz, .GPIO_Mode = GPIO_Mode_AF, .GPIO_OType = GPIO_OType_PP, .GPIO_PuPd = GPIO_PuPd_UP }, .pin_source = GPIO_PinSource12, }, .remap = GPIO_AF_TIM4, }, { .timer = TIM1, .timer_chan = TIM_Channel_4, .pin = { .gpio = GPIOE, .init = { .GPIO_Pin = GPIO_Pin_14, .GPIO_Speed = GPIO_Speed_2MHz, .GPIO_Mode = GPIO_Mode_AF, .GPIO_OType = GPIO_OType_PP, .GPIO_PuPd = GPIO_PuPd_UP }, .pin_source = GPIO_PinSource14, }, .remap = GPIO_AF_TIM1, }, { .timer = TIM1, .timer_chan = TIM_Channel_3, .pin = { .gpio = GPIOE, .init = { .GPIO_Pin = GPIO_Pin_13, .GPIO_Speed = GPIO_Speed_2MHz, .GPIO_Mode = GPIO_Mode_AF, .GPIO_OType = GPIO_OType_PP, .GPIO_PuPd = GPIO_PuPd_UP }, .pin_source = GPIO_PinSource13, }, .remap = GPIO_AF_TIM1, }, { .timer = TIM1, .timer_chan = TIM_Channel_2, .pin = { .gpio = GPIOE, .init = { .GPIO_Pin = GPIO_Pin_11, .GPIO_Speed = GPIO_Speed_2MHz, .GPIO_Mode = GPIO_Mode_AF, .GPIO_OType = GPIO_OType_PP, .GPIO_PuPd = GPIO_PuPd_UP }, .pin_source = GPIO_PinSource11, }, .remap = GPIO_AF_TIM1, }, { .timer = TIM1, .timer_chan = TIM_Channel_1, .pin = { .gpio = GPIOE, .init = { .GPIO_Pin = GPIO_Pin_9, .GPIO_Speed = GPIO_Speed_2MHz, .GPIO_Mode = GPIO_Mode_AF, .GPIO_OType = GPIO_OType_PP, .GPIO_PuPd = GPIO_PuPd_UP }, .pin_source = GPIO_PinSource9, }, .remap = GPIO_AF_TIM1, }, }; const struct pios_pwm_cfg pios_pwm_cfg = { .tim_ic_init = { .TIM_ICPolarity = TIM_ICPolarity_Rising, .TIM_ICSelection = TIM_ICSelection_DirectTI, .TIM_ICPrescaler = TIM_ICPSC_DIV1, .TIM_ICFilter = 0x0, }, .channels = pios_tim_rcvrport_all_channels, .num_channels = NELEMENTS(pios_tim_rcvrport_all_channels), }; #endif /* * PPM Input */ #if defined(PIOS_INCLUDE_PPM) #include static const struct pios_ppm_cfg pios_ppm_cfg = { .tim_ic_init = { .TIM_ICPolarity = TIM_ICPolarity_Rising, .TIM_ICSelection = TIM_ICSelection_DirectTI, .TIM_ICPrescaler = TIM_ICPSC_DIV1, .TIM_ICFilter = 0x0, .TIM_Channel = TIM_Channel_2, }, /* Use only the first channel for ppm */ .channels = &pios_tim_rcvrport_all_channels[0], .num_channels = 1, }; #endif //PPM #if defined(PIOS_INCLUDE_RCVR) #include "pios_rcvr_priv.h" #endif #if defined(PIOS_INCLUDE_USB) #include "pios_usb_priv.h" static const struct pios_usb_cfg pios_usb_main_cfg = { .irq = { .init = { .NVIC_IRQChannel = OTG_FS_IRQn, .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW, .NVIC_IRQChannelSubPriority = 3, .NVIC_IRQChannelCmd = ENABLE, }, }, .vsense = { .gpio = GPIOD, .init = { .GPIO_Pin = GPIO_Pin_11, .GPIO_Speed = GPIO_Speed_25MHz, .GPIO_Mode = GPIO_Mode_IN, .GPIO_OType = GPIO_OType_OD, }, } }; #include "pios_usb_board_data_priv.h" #include "pios_usb_desc_hid_cdc_priv.h" #include "pios_usb_desc_hid_only_priv.h" #include "pios_usbhook.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 */