/** ****************************************************************************** * @addtogroup PIOS PIOS Core hardware abstraction layer * @{ * @addtogroup PIOS_HMC5883 HMC5883 Functions * @brief Deals with the hardware interface to the magnetometers * @{ * * @file pios_board.c * @author David "Buzz" Carlson (buzz@chebuzz.com) * The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011. * @brief Defines board specific static initializers for hardware for the INS board. * @see The GNU Public License (GPL) Version 3 * *****************************************************************************/ /* * This program is free software; you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by * the Free Software Foundation; either version 3 of the License, or * (at your option) any later version. * * This program is distributed in the hope that it will be useful, but * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License * for more details. * * You should have received a copy of the GNU General Public License along * with this program; if not, write to the Free Software Foundation, Inc., * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA */ #include #if defined(PIOS_INCLUDE_SPI) #include /* SPI2 Interface * - Used for mainboard communications and magnetometer * * 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_op_irq_handler(void); void DMA1_Channel5_IRQHandler() __attribute__ ((alias("PIOS_SPI_op_irq_handler"))); void DMA1_Channel4_IRQHandler() __attribute__ ((alias("PIOS_SPI_op_irq_handler"))); static const struct pios_spi_cfg pios_spi_op_cfg = { .regs = SPI2, .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, }, .use_crc = TRUE, .dma = { .ahb_clk = RCC_AHBPeriph_DMA1, .irq = { .handler = PIOS_SPI_op_irq_handler, .flags = (DMA1_FLAG_TC4 | DMA1_FLAG_TE4 | DMA1_FLAG_HT4 | DMA1_FLAG_GL4), .init = { .NVIC_IRQChannel = DMA1_Channel4_IRQn, .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH, .NVIC_IRQChannelSubPriority = 0, .NVIC_IRQChannelCmd = ENABLE, }, }, .rx = { .channel = DMA1_Channel4, .init = { .DMA_PeripheralBaseAddr = (uint32_t) & (SPI2->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_Channel5, .init = { .DMA_PeripheralBaseAddr = (uint32_t) & (SPI2->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 = GPIOB, .init = { .GPIO_Pin = GPIO_Pin_12, .GPIO_Speed = GPIO_Speed_10MHz, .GPIO_Mode = GPIO_Mode_IN_FLOATING, }, }, .sclk = { .gpio = GPIOB, .init = { .GPIO_Pin = GPIO_Pin_13, .GPIO_Speed = GPIO_Speed_10MHz, .GPIO_Mode = GPIO_Mode_IN_FLOATING, }, }, .miso = { .gpio = GPIOB, .init = { .GPIO_Pin = GPIO_Pin_14, .GPIO_Speed = GPIO_Speed_10MHz, .GPIO_Mode = GPIO_Mode_AF_PP, }, }, .mosi = { .gpio = GPIOB, .init = { .GPIO_Pin = GPIO_Pin_15, .GPIO_Speed = GPIO_Speed_10MHz, .GPIO_Mode = GPIO_Mode_IN_FLOATING, }, }, }; uint32_t pios_spi_op_id; void PIOS_SPI_op_irq_handler(void) { /* Call into the generic code to handle the IRQ for this specific device */ PIOS_SPI_IRQ_Handler(pios_spi_op_id); } /* SPI1 Interface * - Used for BMA180 accelerometer */ void PIOS_SPI_accel_irq_handler(void); void DMA1_Channel2_IRQHandler() __attribute__ ((alias("PIOS_SPI_accel_irq_handler"))); void DMA1_Channel3_IRQHandler() __attribute__ ((alias("PIOS_SPI_accel_irq_handler"))); static const struct pios_spi_cfg pios_spi_accel_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 = 7, .SPI_CPOL = SPI_CPOL_High, .SPI_CPHA = SPI_CPHA_2Edge, .SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_128, }, .use_crc = FALSE, .dma = { .ahb_clk = RCC_AHBPeriph_DMA1, .irq = { .handler = PIOS_SPI_accel_irq_handler, .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_High, .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, }, }, }; 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); } #endif /* PIOS_INCLUDE_SPI */ #if defined(PIOS_INCLUDE_GPS) #include /* * GPS USART */ void PIOS_USART_gps_irq_handler(void); void USART1_IRQHandler() __attribute__ ((alias("PIOS_USART_gps_irq_handler"))); const struct pios_usart_cfg pios_usart_gps_cfg = { .regs = USART1, .init = { #if defined (PIOS_USART_BAUDRATE) .USART_BaudRate = PIOS_USART_BAUDRATE, #else .USART_BaudRate = 57600, #endif .USART_WordLength = USART_WordLength_8b, .USART_Parity = USART_Parity_No, .USART_StopBits = USART_StopBits_1, .USART_HardwareFlowControl = USART_HardwareFlowControl_None, .USART_Mode = USART_Mode_Rx | USART_Mode_Tx, }, .irq = { .handler = PIOS_USART_gps_irq_handler, .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 uint32_t pios_usart_gps_id; void PIOS_USART_gps_irq_handler(void) { PIOS_USART_IRQ_Handler(pios_usart_gps_id); } #endif /* PIOS_INCLUDE_GPS */ #ifdef PIOS_INCLUDE_COM_AUX /* * AUX USART */ void PIOS_USART_aux_irq_handler(void); void USART3_IRQHandler() __attribute__ ((alias ("PIOS_USART_aux_irq_handler"))); const struct pios_usart_cfg pios_usart_aux_cfg = { .regs = USART3, .remap = GPIO_PartialRemap_USART3, .init = { #if defined (PIOS_COM_AUX_BAUDRATE) .USART_BaudRate = PIOS_COM_AUX_BAUDRATE, #else .USART_BaudRate = 57600, #endif .USART_WordLength = USART_WordLength_8b, .USART_Parity = USART_Parity_No, .USART_StopBits = USART_StopBits_1, .USART_HardwareFlowControl = USART_HardwareFlowControl_None, .USART_Mode = USART_Mode_Rx | USART_Mode_Tx, }, .irq = { .handler = PIOS_USART_aux_irq_handler, .init = { .NVIC_IRQChannel = USART3_IRQn, .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, .NVIC_IRQChannelSubPriority = 0, .NVIC_IRQChannelCmd = ENABLE, }, }, .rx = { .gpio = GPIOC, .init = { .GPIO_Pin = GPIO_Pin_11, .GPIO_Speed = GPIO_Speed_2MHz, .GPIO_Mode = GPIO_Mode_IPU, }, }, .tx = { .gpio = GPIOC, .init = { .GPIO_Pin = GPIO_Pin_10, .GPIO_Speed = GPIO_Speed_2MHz, .GPIO_Mode = GPIO_Mode_AF_PP, }, }, }; static uint32_t pios_usart_aux_id; void PIOS_USART_aux_irq_handler(void) { PIOS_USART_IRQ_Handler(pios_usart_aux_id); } #endif /* PIOS_INCLUDE_COM_AUX */ #if defined(PIOS_INCLUDE_I2C) #include /* * I2C Adapters */ void PIOS_I2C_pres_mag_adapter_ev_irq_handler(void); void PIOS_I2C_pres_mag_adapter_er_irq_handler(void); void I2C1_EV_IRQHandler() __attribute__ ((alias("PIOS_I2C_pres_mag_adapter_ev_irq_handler"))); void I2C1_ER_IRQHandler() __attribute__ ((alias("PIOS_I2C_pres_mag_adapter_er_irq_handler"))); const struct pios_i2c_adapter_cfg pios_i2c_pres_mag_adapter_cfg = { .regs = 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 = 200000, /* bits/s */ }, .transfer_timeout_ms = 50, .scl = { .gpio = GPIOB, .init = { .GPIO_Pin = GPIO_Pin_6, .GPIO_Speed = GPIO_Speed_10MHz, .GPIO_Mode = GPIO_Mode_AF_OD, }, }, .sda = { .gpio = GPIOB, .init = { .GPIO_Pin = GPIO_Pin_7, .GPIO_Speed = GPIO_Speed_10MHz, .GPIO_Mode = GPIO_Mode_AF_OD, }, }, .event = { .handler = PIOS_I2C_pres_mag_adapter_ev_irq_handler, .flags = 0, /* FIXME: check this */ .init = { .NVIC_IRQChannel = I2C1_EV_IRQn, .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST, .NVIC_IRQChannelSubPriority = 0, .NVIC_IRQChannelCmd = ENABLE, }, }, .error = { .handler = PIOS_I2C_pres_mag_adapter_er_irq_handler, .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_pres_mag_adapter_id; void PIOS_I2C_pres_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_pres_mag_adapter_id); } void PIOS_I2C_pres_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_pres_mag_adapter_id); } void PIOS_I2C_gyro_adapter_ev_irq_handler(void); void PIOS_I2C_gyro_adapter_er_irq_handler(void); void I2C2_EV_IRQHandler() __attribute__ ((alias ("PIOS_I2C_gyro_adapter_ev_irq_handler"))); void I2C2_ER_IRQHandler() __attribute__ ((alias ("PIOS_I2C_gyro_adapter_er_irq_handler"))); const struct pios_i2c_adapter_cfg pios_i2c_gyro_adapter_cfg = { .regs = 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_Speed = GPIO_Speed_10MHz, .GPIO_Mode = GPIO_Mode_AF_OD, }, }, .sda = { .gpio = GPIOB, .init = { .GPIO_Pin = GPIO_Pin_11, .GPIO_Speed = GPIO_Speed_10MHz, .GPIO_Mode = GPIO_Mode_AF_OD, }, }, .event = { .handler = PIOS_I2C_gyro_adapter_ev_irq_handler, .flags = 0, /* FIXME: check this */ .init = { .NVIC_IRQChannel = I2C2_EV_IRQn, .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST, .NVIC_IRQChannelSubPriority = 0, .NVIC_IRQChannelCmd = ENABLE, }, }, .error = { .handler = PIOS_I2C_gyro_adapter_er_irq_handler, .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_gyro_adapter_id; void PIOS_I2C_gyro_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_gyro_adapter_id); } void PIOS_I2C_gyro_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_gyro_adapter_id); } #endif /* PIOS_INCLUDE_I2C */ extern const struct pios_com_driver pios_usart_com_driver; uint32_t pios_com_aux_id; uint32_t pios_com_gps_id; /** * PIOS_Board_Init() * initializes all the core subsystems on this specific hardware * called from System/openpilot.c */ void PIOS_Board_Init(void) { /* Brings up System using CMSIS functions, enables the LEDs. */ PIOS_SYS_Init(); /* Delay system */ PIOS_DELAY_Init(); /* IAP System Setup */ PIOS_IAP_Init(); #if defined(PIOS_INCLUDE_COM) #if defined(PIOS_INCLUDE_GPS) if (PIOS_USART_Init(&pios_usart_gps_id, &pios_usart_gps_cfg)) { PIOS_DEBUG_Assert(0); } if (PIOS_COM_Init(&pios_com_gps_id, &pios_usart_com_driver, pios_usart_gps_id)) { PIOS_DEBUG_Assert(0); } #endif /* PIOS_INCLUDE_GPS */ #if defined(PIOS_INCLUDE_COM_AUX) if (PIOS_USART_Init(&pios_usart_aux_id, &pios_usart_aux_cfg)) { PIOS_DEBUG_Assert(0); } if (PIOS_COM_Init(&pios_com_aux_id, &pios_usart_com_driver, pios_usart_aux_id)) { PIOS_DEBUG_Assert(0); } #endif /* PIOS_INCLUDE_COM_AUX */ #endif /* PIOS_INCLUDE_COM */ #if defined (PIOS_INCLUDE_I2C) if (PIOS_I2C_Init(&pios_i2c_pres_mag_adapter_id, &pios_i2c_pres_mag_adapter_cfg)) { PIOS_DEBUG_Assert(0); } #if defined (PIOS_INCLUDE_BMP085) PIOS_BMP085_Init(); #endif /* PIOS_INCLUDE_BMP085 */ #if defined (PIOS_INCLUDE_HMC5883) PIOS_HMC5883_Init(); #endif /* PIOS_INCLUDE_HMC5883 */ #if defined(PIOS_INCLUDE_IMU3000) if (PIOS_I2C_Init(&pios_i2c_gyro_adapter_id, &pios_i2c_gyro_adapter_cfg)) { PIOS_DEBUG_Assert(0); } PIOS_IMU3000_Init(); #endif /* PIOS_INCLUDE_IMU3000 */ #endif /* PIOS_INCLUDE_I2C */ #if defined(PIOS_INCLUDE_SPI) /* Set up the SPI interface to the accelerometer*/ if (PIOS_SPI_Init(&pios_spi_accel_id, &pios_spi_accel_cfg)) { PIOS_DEBUG_Assert(0); } PIOS_BMA180_Attach(pios_spi_accel_id); /* Set up the SPI interface to the OP board */ #include "ahrs_spi_comm.h" AhrsInitComms(); if (PIOS_SPI_Init(&pios_spi_op_id, &pios_spi_op_cfg)) { PIOS_DEBUG_Assert(0); } AhrsConnect(pios_spi_op_id); #endif /* PIOS_INCLUDE_SPI */ } /** * @} * @} */