/** ****************************************************************************** * @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 "manualcontrolsettings.h" //#define I2C_DEBUG_PIN 0 //#define USART_GPS_DEBUG_PIN 1 #if defined(PIOS_INCLUDE_SPI) #include /* MicroSD 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_sdcard_irq_handler(void); void DMA1_Channel2_IRQHandler() __attribute__ ((alias ("PIOS_SPI_sdcard_irq_handler"))); void DMA1_Channel3_IRQHandler() __attribute__ ((alias ("PIOS_SPI_sdcard_irq_handler"))); static const struct pios_spi_cfg pios_spi_sdcard_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_256, /* Maximum divider (ie. slowest clock rate) */ }, .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_MID, .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_50MHz, .GPIO_Mode = GPIO_Mode_Out_PP, }, }, .sclk = { .gpio = GPIOA, .init = { .GPIO_Pin = GPIO_Pin_5, .GPIO_Speed = GPIO_Speed_50MHz, .GPIO_Mode = GPIO_Mode_AF_PP, }, }, .miso = { .gpio = GPIOA, .init = { .GPIO_Pin = GPIO_Pin_6, .GPIO_Speed = GPIO_Speed_50MHz, .GPIO_Mode = GPIO_Mode_IPU, }, }, .mosi = { .gpio = GPIOA, .init = { .GPIO_Pin = GPIO_Pin_7, .GPIO_Speed = GPIO_Speed_50MHz, .GPIO_Mode = GPIO_Mode_AF_PP, }, }, }; /* AHRS 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_ahrs_irq_handler(void); void DMA1_Channel4_IRQHandler() __attribute__ ((alias ("PIOS_SPI_ahrs_irq_handler"))); void DMA1_Channel5_IRQHandler() __attribute__ ((alias ("PIOS_SPI_ahrs_irq_handler"))); static const struct pios_spi_cfg pios_spi_ahrs_cfg = { .regs = 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_16, }, .use_crc = TRUE, .dma = { .ahb_clk = RCC_AHBPeriph_DMA1, .irq = { .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_High, .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_High, .DMA_M2M = DMA_M2M_Disable, }, }, }, .ssel = { .gpio = GPIOB, .init = { .GPIO_Pin = GPIO_Pin_12, .GPIO_Speed = GPIO_Speed_10MHz, .GPIO_Mode = GPIO_Mode_Out_PP, }, }, .sclk = { .gpio = GPIOB, .init = { .GPIO_Pin = GPIO_Pin_13, .GPIO_Speed = GPIO_Speed_10MHz, .GPIO_Mode = GPIO_Mode_AF_PP, }, }, .miso = { .gpio = GPIOB, .init = { .GPIO_Pin = GPIO_Pin_14, .GPIO_Speed = GPIO_Speed_10MHz, .GPIO_Mode = GPIO_Mode_IN_FLOATING, }, }, .mosi = { .gpio = GPIOB, .init = { .GPIO_Pin = GPIO_Pin_15, .GPIO_Speed = GPIO_Speed_10MHz, .GPIO_Mode = GPIO_Mode_AF_PP, }, }, }; static uint32_t pios_spi_sdcard_id; void PIOS_SPI_sdcard_irq_handler(void) { /* Call into the generic code to handle the IRQ for this specific device */ PIOS_SPI_IRQ_Handler(pios_spi_sdcard_id); } uint32_t pios_spi_ahrs_id; void PIOS_SPI_ahrs_irq_handler(void) { /* Call into the generic code to handle the IRQ for this specific device */ PIOS_SPI_IRQ_Handler(pios_spi_ahrs_id); } #endif /* PIOS_INCLUDE_SPI */ /* * 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_LOW, .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_Low, .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(); } #include "pios_tim_priv.h" static const TIM_TimeBaseInitTypeDef tim_4_8_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_4_cfg = { .timer = TIM4, .time_base_init = &tim_4_8_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_clock_cfg tim_8_cfg = { .timer = TIM8, .time_base_init = &tim_4_8_time_base, .irq = { .init = { .NVIC_IRQChannel = TIM8_CC_IRQn, .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, .NVIC_IRQChannelSubPriority = 0, .NVIC_IRQChannelCmd = ENABLE, }, }, }; static const TIM_TimeBaseInitTypeDef tim_1_3_5_time_base = { .TIM_Prescaler = (PIOS_MASTER_CLOCK / 1000000) - 1, .TIM_ClockDivision = TIM_CKD_DIV1, .TIM_CounterMode = TIM_CounterMode_Up, .TIM_Period = 0xFFFF, .TIM_RepetitionCounter = 0x0000, }; static const struct pios_tim_clock_cfg tim_1_cfg = { .timer = TIM1, .time_base_init = &tim_1_3_5_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_3_cfg = { .timer = TIM3, .time_base_init = &tim_1_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_1_3_5_time_base, .irq = { .init = { .NVIC_IRQChannel = TIM5_IRQn, .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, .NVIC_IRQChannelSubPriority = 0, .NVIC_IRQChannelCmd = ENABLE, }, }, }; #if defined(PIOS_INCLUDE_USART) #include "pios_usart_priv.h" /* * Telemetry USART */ static const struct pios_usart_cfg pios_usart_telem_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, }, }, }; /* * GPS USART */ static const struct pios_usart_cfg pios_usart_gps_cfg = { .regs = USART3, .remap = GPIO_PartialRemap_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 = 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, }, }, }; #ifdef PIOS_COM_AUX /* * AUX USART */ static const struct pios_usart_cfg pios_usart_aux_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, }, }, .remap = GPIO_Remap_USART1, .rx = { .gpio = GPIOB, .init = { .GPIO_Pin = GPIO_Pin_7, .GPIO_Speed = GPIO_Speed_2MHz, .GPIO_Mode = GPIO_Mode_IPU, }, }, .tx = { .gpio = GPIOB, .init = { .GPIO_Pin = GPIO_Pin_6, .GPIO_Speed = GPIO_Speed_2MHz, .GPIO_Mode = GPIO_Mode_AF_PP, }, }, }; #endif #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 #if defined(PIOS_INCLUDE_SPEKTRUM) /* * SPEKTRUM USART */ #include static const struct pios_usart_cfg pios_usart_spektrum_cfg = { .regs = USART1, .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 = USART1_IRQn, .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH, .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_IN_FLOATING, }, }, }; static const struct pios_spektrum_cfg pios_spektrum_cfg = { .bind = { .gpio = GPIOA, .init = { .GPIO_Pin = GPIO_Pin_10, .GPIO_Speed = GPIO_Speed_2MHz, .GPIO_Mode = GPIO_Mode_Out_PP, }, }, .remap = 0, }; #endif /* PIOS_COM_SPEKTRUM */ #if defined(PIOS_INCLUDE_SBUS) #error PIOS_INCLUDE_SBUS not implemented #endif /* PIOS_INCLUDE_SBUS */ #endif /* PIOS_INCLUDE_USART */ #if defined(PIOS_INCLUDE_COM) #include "pios_com_priv.h" #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 #endif /* PIOS_INCLUDE_COM */ /** * Pios servo configuration structures */ #include static const struct pios_tim_channel pios_tim_servoport_all_pins[] = { { .timer = TIM4, .timer_chan = TIM_Channel_1, .pin = { .gpio = GPIOB, .init = { .GPIO_Pin = GPIO_Pin_6, .GPIO_Mode = GPIO_Mode_AF_PP, .GPIO_Speed = GPIO_Speed_2MHz, }, }, }, { .timer = TIM4, .timer_chan = TIM_Channel_2, .pin = { .gpio = GPIOB, .init = { .GPIO_Pin = GPIO_Pin_7, .GPIO_Mode = GPIO_Mode_AF_PP, .GPIO_Speed = GPIO_Speed_2MHz, }, }, }, { .timer = TIM4, .timer_chan = TIM_Channel_3, .pin = { .gpio = GPIOB, .init = { .GPIO_Pin = GPIO_Pin_8, .GPIO_Mode = GPIO_Mode_AF_PP, .GPIO_Speed = GPIO_Speed_2MHz, }, }, }, { .timer = TIM4, .timer_chan = TIM_Channel_4, .pin = { .gpio = GPIOB, .init = { .GPIO_Pin = GPIO_Pin_9, .GPIO_Mode = GPIO_Mode_AF_PP, .GPIO_Speed = GPIO_Speed_2MHz, }, }, }, { .timer = TIM8, .timer_chan = TIM_Channel_1, .pin = { .gpio = GPIOC, .init = { .GPIO_Pin = GPIO_Pin_6, .GPIO_Mode = GPIO_Mode_AF_PP, .GPIO_Speed = GPIO_Speed_2MHz, }, }, }, { .timer = TIM8, .timer_chan = TIM_Channel_2, .pin = { .gpio = GPIOC, .init = { .GPIO_Pin = GPIO_Pin_7, .GPIO_Mode = GPIO_Mode_AF_PP, .GPIO_Speed = GPIO_Speed_2MHz, }, }, }, { .timer = TIM8, .timer_chan = TIM_Channel_3, .pin = { .gpio = GPIOC, .init = { .GPIO_Pin = GPIO_Pin_8, .GPIO_Mode = GPIO_Mode_AF_PP, .GPIO_Speed = GPIO_Speed_2MHz, }, }, }, { .timer = TIM8, .timer_chan = TIM_Channel_4, .pin = { .gpio = GPIOC, .init = { .GPIO_Pin = GPIO_Pin_9, .GPIO_Mode = GPIO_Mode_AF_PP, .GPIO_Speed = GPIO_Speed_2MHz, }, }, }, }; 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 = TIM1, .timer_chan = TIM_Channel_2, .pin = { .gpio = GPIOA, .init = { .GPIO_Pin = GPIO_Pin_9, .GPIO_Mode = GPIO_Mode_IPD, .GPIO_Speed = GPIO_Speed_2MHz, }, }, }, { .timer = TIM1, .timer_chan = TIM_Channel_3, .pin = { .gpio = GPIOA, .init = { .GPIO_Pin = GPIO_Pin_10, .GPIO_Mode = GPIO_Mode_IPD, .GPIO_Speed = GPIO_Speed_2MHz, }, }, }, { .timer = TIM5, .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 = TIM1, .timer_chan = TIM_Channel_1, .pin = { .gpio = GPIOA, .init = { .GPIO_Pin = GPIO_Pin_8, .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 = 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_1, .pin = { .gpio = GPIOB, .init = { .GPIO_Pin = GPIO_Pin_4, .GPIO_Mode = GPIO_Mode_IPD, .GPIO_Speed = GPIO_Speed_2MHz, }, }, .remap = GPIO_PartialRemap_TIM3, }, { .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, }, }; 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_I2C) #include /* * I2C Adapters */ void PIOS_I2C_main_adapter_ev_irq_handler(void); void PIOS_I2C_main_adapter_er_irq_handler(void); void I2C2_EV_IRQHandler() __attribute__ ((alias ("PIOS_I2C_main_adapter_ev_irq_handler"))); void I2C2_ER_IRQHandler() __attribute__ ((alias ("PIOS_I2C_main_adapter_er_irq_handler"))); static const struct pios_i2c_adapter_cfg pios_i2c_main_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 = { .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_main_adapter_id; void PIOS_I2C_main_adapter_ev_irq_handler(void) { #ifdef I2C_DEBUG_PIN PIOS_DEBUG_PinHigh(I2C_DEBUG_PIN); #endif /* Call into the generic code to handle the IRQ for this specific device */ PIOS_I2C_EV_IRQ_Handler(pios_i2c_main_adapter_id); #ifdef I2C_DEBUG_PIN PIOS_DEBUG_PinLow(I2C_DEBUG_PIN); #endif } void PIOS_I2C_main_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_main_adapter_id); } #endif /* PIOS_INCLUDE_I2C */ #if defined(PIOS_ENABLE_DEBUG_PINS) static const struct stm32_gpio pios_debug_pins[] = { #define PIOS_DEBUG_PIN_SERVO_1 0 { .gpio = GPIOB, .init = { .GPIO_Pin = GPIO_Pin_6, .GPIO_Speed = GPIO_Speed_50MHz, .GPIO_Mode = GPIO_Mode_Out_PP, }, }, #define PIOS_DEBUG_PIN_SERVO_2 1 { .gpio = GPIOB, .init = { .GPIO_Pin = GPIO_Pin_7, .GPIO_Speed = GPIO_Speed_50MHz, .GPIO_Mode = GPIO_Mode_Out_PP, }, }, #define PIOS_DEBUG_PIN_SERVO_3 2 { .gpio = GPIOB, .init = { .GPIO_Pin = GPIO_Pin_8, .GPIO_Speed = GPIO_Speed_50MHz, .GPIO_Mode = GPIO_Mode_Out_PP, }, }, #define PIOS_DEBUG_PIN_SERVO_4 3 { .gpio = GPIOB, .init = { .GPIO_Pin = GPIO_Pin_9, .GPIO_Speed = GPIO_Speed_50MHz, .GPIO_Mode = GPIO_Mode_Out_PP, }, }, #define PIOS_DEBUG_PIN_SERVO_5 4 { .gpio = GPIOC, .init = { .GPIO_Pin = GPIO_Pin_6, .GPIO_Speed = GPIO_Speed_50MHz, .GPIO_Mode = GPIO_Mode_Out_PP, }, }, #define PIOS_DEBUG_PIN_SERVO_6 5 { .gpio = GPIOC, .init = { .GPIO_Pin = GPIO_Pin_7, .GPIO_Speed = GPIO_Speed_50MHz, .GPIO_Mode = GPIO_Mode_Out_PP, }, }, #define PIOS_DEBUG_PIN_SERVO_7 6 { .gpio = GPIOC, .init = { .GPIO_Pin = GPIO_Pin_8, .GPIO_Speed = GPIO_Speed_50MHz, .GPIO_Mode = GPIO_Mode_Out_PP, }, }, #define PIOS_DEBUG_PIN_SERVO_8 7 { .gpio = GPIOC, .init = { .GPIO_Pin = GPIO_Pin_9, .GPIO_Speed = GPIO_Speed_50MHz, .GPIO_Mode = GPIO_Mode_Out_PP, }, }, }; #endif /* PIOS_ENABLE_DEBUG_PINS */ #if defined(PIOS_INCLUDE_RCVR) #include "pios_rcvr_priv.h" /* One slot per selectable receiver group. * eg. PWM, PPM, GCS, SPEKTRUM1, SPEKTRUM2, SBUS * NOTE: No slot in this map for NONE. */ uint32_t pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE]; #endif /* PIOS_INCLUDE_RCVR */ #if defined(PIOS_INCLUDE_USB_HID) #include "pios_usb_hid_priv.h" static const struct pios_usb_hid_cfg pios_usb_hid_main_cfg = { .irq = { .init = { .NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn, .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW, .NVIC_IRQChannelSubPriority = 0, .NVIC_IRQChannelCmd = ENABLE, }, }, }; #endif /* PIOS_INCLUDE_USB_HID */ extern const struct pios_com_driver pios_usb_com_driver; uint32_t pios_com_telem_rf_id; uint32_t pios_com_telem_usb_id; uint32_t pios_com_gps_id; uint32_t pios_com_aux_id; uint32_t pios_com_spektrum_id; #include "ahrs_spi_comm.h" /** * PIOS_Board_Init() * initializes all the core subsystems on this specific hardware * called from System/openpilot.c */ void PIOS_Board_Init(void) { /* Remap AFIO pin */ //GPIO_PinRemapConfig( GPIO_Remap_SWJ_NoJTRST, ENABLE); #ifdef PIOS_DEBUG_ENABLE_DEBUG_PINS PIOS_DEBUG_Init(&pios_tim_servo_all_channels, NELEMENTS(pios_tim_servo_all_channels)); #endif /* PIOS_DEBUG_ENABLE_DEBUG_PINS */ /* Delay system */ PIOS_DELAY_Init(); #if defined(PIOS_INCLUDE_SPI) /* Set up the SPI interface to the SD card */ if (PIOS_SPI_Init(&pios_spi_sdcard_id, &pios_spi_sdcard_cfg)) { PIOS_Assert(0); } /* Enable and mount the SDCard */ PIOS_SDCARD_Init(pios_spi_sdcard_id); PIOS_SDCARD_MountFS(0); #endif /* PIOS_INCLUDE_SPI */ /* Initialize UAVObject libraries */ EventDispatcherInitialize(); UAVObjInitialize(); HwSettingsInitialize(); #if defined(PIOS_INCLUDE_RTC) /* Initialize the real-time clock and its associated tick */ PIOS_RTC_Init(&pios_rtc_main_cfg); #endif /* Initialize the alarms library */ AlarmsInitialize(); /* Initialize the task monitor library */ TaskMonitorInitialize(); /* Set up pulse timers */ PIOS_TIM_InitClock(&tim_1_cfg); PIOS_TIM_InitClock(&tim_3_cfg); PIOS_TIM_InitClock(&tim_5_cfg); PIOS_TIM_InitClock(&tim_4_cfg); PIOS_TIM_InitClock(&tim_8_cfg); /* Prepare the AHRS Comms upper layer protocol */ AhrsInitComms(); /* Set up the SPI interface to the AHRS */ if (PIOS_SPI_Init(&pios_spi_ahrs_id, &pios_spi_ahrs_cfg)) { PIOS_Assert(0); } /* Bind the AHRS comms layer to the AHRS SPI link */ AhrsConnect(pios_spi_ahrs_id); /* Configure the main IO port */ uint8_t hwsettings_op_mainport; HwSettingsOP_MainPortGet(&hwsettings_op_mainport); switch (hwsettings_op_mainport) { case HWSETTINGS_OP_MAINPORT_DISABLED: break; case HWSETTINGS_OP_MAINPORT_TELEMETRY: #if defined(PIOS_INCLUDE_TELEMETRY_RF) { uint32_t pios_usart_telem_rf_id; if (PIOS_USART_Init(&pios_usart_telem_rf_id, &pios_usart_telem_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_telem_rf_id, &pios_usart_com_driver, pios_usart_telem_rf_id, rx_buffer, PIOS_COM_TELEM_RF_RX_BUF_LEN, tx_buffer, PIOS_COM_TELEM_RF_TX_BUF_LEN)) { PIOS_Assert(0); } } #endif /* PIOS_INCLUDE_TELEMETRY_RF */ break; } /* Configure the flexi port */ uint8_t hwsettings_op_flexiport; HwSettingsOP_FlexiPortGet(&hwsettings_op_flexiport); switch (hwsettings_op_flexiport) { case HWSETTINGS_OP_FLEXIPORT_DISABLED: break; case HWSETTINGS_OP_FLEXIPORT_GPS: #if defined(PIOS_INCLUDE_GPS) { uint32_t pios_usart_gps_id; if (PIOS_USART_Init(&pios_usart_gps_id, &pios_usart_gps_cfg)) { PIOS_Assert(0); } uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_GPS_RX_BUF_LEN); PIOS_Assert(rx_buffer); if (PIOS_COM_Init(&pios_com_gps_id, &pios_usart_com_driver, pios_usart_gps_id, rx_buffer, PIOS_COM_GPS_RX_BUF_LEN, NULL, 0)) { PIOS_Assert(0); } } #endif /* PIOS_INCLUDE_GPS */ break; } #ifndef PIOS_DEBUG_ENABLE_DEBUG_PINS PIOS_Servo_Init(&pios_servo_cfg); #endif /* PIOS_DEBUG_ENABLE_DEBUG_PINS */ PIOS_ADC_Init(); PIOS_GPIO_Init(); /* Configure the aux port */ uint8_t hwsettings_op_auxport; HwSettingsOP_AuxPortGet(&hwsettings_op_auxport); switch (hwsettings_op_auxport) { case HWSETTINGS_OP_AUXPORT_DISABLED: break; case HWSETTINGS_OP_AUXPORT_DEBUG: /* Not supported yet */ break; case HWSETTINGS_OP_AUXPORT_SPEKTRUM1: #if defined(PIOS_INCLUDE_SPEKTRUM) { uint32_t pios_usart_spektrum_id; if (PIOS_USART_Init(&pios_usart_spektrum_id, &pios_usart_spektrum_cfg)) { PIOS_Assert(0); } uint32_t pios_spektrum_id; if (PIOS_SPEKTRUM_Init(&pios_spektrum_id, &pios_spektrum_cfg, &pios_usart_com_driver, pios_usart_spektrum_id, false)) { PIOS_Assert(0); } uint32_t pios_spektrum_rcvr_id; if (PIOS_RCVR_Init(&pios_spektrum_rcvr_id, &pios_spektrum_rcvr_driver, pios_spektrum_id)) { PIOS_Assert(0); } pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_SPEKTRUM1] = pios_spektrum_rcvr_id; } #endif break; } /* Configure the rcvr port */ uint8_t hwsettings_rcvrport; HwSettingsRcvrPortGet(&hwsettings_rcvrport); switch (hwsettings_rcvrport) { case HWSETTINGS_RCVRPORT_DISABLED: break; case HWSETTINGS_RCVRPORT_PWM: #if defined(PIOS_INCLUDE_PWM) { uint32_t pios_pwm_id; PIOS_PWM_Init(&pios_pwm_id, &pios_pwm_cfg); uint32_t pios_pwm_rcvr_id; if (PIOS_RCVR_Init(&pios_pwm_rcvr_id, &pios_pwm_rcvr_driver, pios_pwm_id)) { PIOS_Assert(0); } pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_PWM] = pios_pwm_rcvr_id; } #endif /* PIOS_INCLUDE_PWM */ break; case HWSETTINGS_RCVRPORT_PPM: #if defined(PIOS_INCLUDE_PPM) { 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 /* PIOS_INCLUDE_PPM */ break; } #if defined(PIOS_INCLUDE_USB_HID) uint32_t pios_usb_hid_id; PIOS_USB_HID_Init(&pios_usb_hid_id, &pios_usb_hid_main_cfg); #if defined(PIOS_INCLUDE_COM) 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_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 */ #if defined(PIOS_INCLUDE_I2C) if (PIOS_I2C_Init(&pios_i2c_main_adapter_id, &pios_i2c_main_adapter_cfg)) { PIOS_Assert(0); } #endif /* PIOS_INCLUDE_I2C */ PIOS_IAP_Init(); PIOS_WDG_Init(); } /** * @} */