/** ****************************************************************************** * @file board_hw_defs.c * @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015. * The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012. * PhoenixPilot, http://github.com/PhoenixPilot, Copyright (C) 2012 * * @addtogroup OpenPilotSystem OpenPilot System * @{ * @addtogroup OpenPilotCore OpenPilot Core * @{ * @brief Defines board specific static initializers for hardware for the CopterControl board. *****************************************************************************/ /* * 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 */ #if defined(PIOS_INCLUDE_LED) #include static const struct pios_gpio pios_leds[] = { [PIOS_LED_HEARTBEAT] = { .pin = { .gpio = GPIOB, .init = { .GPIO_Pin = GPIO_Pin_8, .GPIO_Mode = GPIO_Mode_OUT, .GPIO_OType = GPIO_OType_PP, .GPIO_Speed = GPIO_Speed_50MHz, .GPIO_PuPd = GPIO_PuPd_NOPULL, }, }, .active_low = false }, }; static const struct pios_gpio_cfg pios_led_cfg = { .gpios = pios_leds, .num_gpios = NELEMENTS(pios_leds), }; const struct pios_gpio_cfg *PIOS_BOARD_HW_DEFS_GetLedCfg(__attribute__((unused)) uint32_t board_revision) { return &pios_led_cfg; } #endif /* PIOS_INCLUDE_LED */ #if defined(PIOS_INCLUDE_SPI) #include /* Gyro interface */ void PIOS_SPI_MPU9250_irq_handler(void); void DMA1_Channel2_IRQHandler() __attribute__((alias("PIOS_SPI_MPU9250_irq_handler"))); void DMA1_Channel3_IRQHandler() __attribute__((alias("PIOS_SPI_MPU9250_irq_handler"))); static const struct pios_spi_cfg pios_spi_mpu9250_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_16, /* 10 Mhz */ }, .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_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, }, }, }, .remap = GPIO_AF_5, .sclk = { .gpio = GPIOB, .init = { .GPIO_Pin = GPIO_Pin_3, .GPIO_Speed = GPIO_Speed_50MHz, .GPIO_Mode = GPIO_Mode_AF, .GPIO_OType = GPIO_OType_PP, .GPIO_PuPd = GPIO_PuPd_NOPULL, }, }, .miso = { .gpio = GPIOB, .init = { .GPIO_Pin = GPIO_Pin_4, .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_5, .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_9, .GPIO_Speed = GPIO_Speed_50MHz, .GPIO_Mode = GPIO_Mode_OUT, .GPIO_OType = GPIO_OType_PP, .GPIO_PuPd = GPIO_PuPd_UP }, } }, }; uint32_t pios_spi_mpu9250_id; void PIOS_SPI_MPU9250_irq_handler(void) { /* Call into the generic code to handle the IRQ for this specific device */ PIOS_SPI_IRQ_Handler(pios_spi_mpu9250_id); } /* SDCARD 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_Channel4_IRQHandler() __attribute__((alias("PIOS_SPI_SDCARD_irq_handler"))); void DMA1_Channel5_IRQHandler() __attribute__((alias("PIOS_SPI_SDCARD_irq_handler"))); static const struct pios_spi_cfg pios_spi_sdcard_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_8, }, .use_crc = false, .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, }, }, }, .remap = GPIO_AF_5, .sclk = { .gpio = GPIOB, .init = { .GPIO_Pin = GPIO_Pin_13, .GPIO_Speed = GPIO_Speed_50MHz, .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, /* NOTE: was GPIO_Mode_IN_FLOATING */ .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, } }, }, }; 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); } #endif /* PIOS_INCLUDE_SPI */ #if defined(PIOS_INCLUDE_FLASH) #include "pios_flashfs_logfs_priv.h" #include "pios_flash_jedec_priv.h" #include "pios_flash_internal_priv.h" static const struct pios_flash_internal_cfg flash_internal_system_cfg = {}; static const struct flashfs_logfs_cfg flashfs_internal_cfg = { .fs_magic = 0x99abcfef, .total_fs_size = EE_BANK_SIZE, /* 32K bytes (2x16KB sectors) */ .arena_size = 0x00004000, /* 64 * slot size = 16K bytes = 1 sector */ .slot_size = 0x00000100, /* 256 bytes */ .start_offset = EE_BANK_BASE, /* start after the bootloader */ .sector_size = 0x00004000, /* 16K bytes */ .page_size = 0x00004000, /* 16K bytes */ }; //static const struct flashfs_logfs_cfg flashfs_internal_user_cfg = { // .fs_magic = 0x99abcfef, // .total_fs_size = USER_EE_BANK_SIZE, /* 128K bytes (2x16KB sectors) */ // .arena_size = 0x00020000, /* 64 * slot size = 16K bytes = 1 sector */ // .slot_size = 0x00000100, /* 256 bytes */ // // .start_offset = USER_EE_BANK_BASE, /* start after the bootloader */ // .sector_size = 0x00020000, /* 128K bytes */ // .page_size = 0x00020000, /* 128K bytes */ //}; #endif /* PIOS_INCLUDE_FLASH */ #include "pios_tim_priv.h" static const TIM_TimeBaseInitTypeDef tim_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_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_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_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_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_time_base, .irq = { .init = { .NVIC_IRQChannel = TIM8_CC_IRQn, .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, .NVIC_IRQChannelSubPriority = 0, .NVIC_IRQChannelCmd = ENABLE, }, }, }; static const struct pios_tim_clock_cfg tim_15_cfg = { .timer = TIM4, .time_base_init = &tim_time_base, .irq = { .init = { .NVIC_IRQChannel = TIM1_BRK_TIM15_IRQn, .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, .NVIC_IRQChannelSubPriority = 0, .NVIC_IRQChannelCmd = ENABLE, }, }, }; static const struct pios_tim_clock_cfg tim_16_cfg = { .timer = TIM4, .time_base_init = &tim_time_base, .irq = { .init = { .NVIC_IRQChannel = TIM1_UP_TIM16_IRQn, .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, .NVIC_IRQChannelSubPriority = 0, .NVIC_IRQChannelCmd = ENABLE, }, }, }; static const struct pios_tim_clock_cfg tim_17_cfg = { .timer = TIM4, .time_base_init = &tim_time_base, .irq = { .init = { .NVIC_IRQChannel = TIM1_TRG_COM_TIM17_IRQn, .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, .NVIC_IRQChannelSubPriority = 0, .NVIC_IRQChannelCmd = ENABLE, }, }, }; #include #define GPIO_AF_PA1_TIM2 GPIO_AF_1 #define GPIO_AF_PA0_TIM2 GPIO_AF_1 #define GPIO_AF_PA8_TIM1 GPIO_AF_6 #define GPIO_AF_PA2_TIM2 GPIO_AF_1 #define GPIO_AF_PB6_TIM4 GPIO_AF_2 #define GPIO_AF_PB5_TIM3 GPIO_AF_2 #define GPIO_AF_PB0_TIM3 GPIO_AF_2 #define GPIO_AF_PB1_TIM3 GPIO_AF_2 #define GPIO_AF_PB9_TIM4 GPIO_AF_2 #define GPIO_AF_PB8_TIM4 GPIO_AF_2 #define GPIO_AF_PB7_TIM4 GPIO_AF_2 #define GPIO_AF_PB4_TIM3 GPIO_AF_2 #define GPIO_AF_PB11_TIM2 GPIO_AF_1 #define GPIO_AF_PA15_TIM8 GPIO_AF_2 #define GPIO_AF_PA3_TIM15 GPIO_AF_9 #define GPIO_AF_PA6_TIM3 GPIO_AF_2 #define GPIO_AF_PA7_TIM3 GPIO_AF_2 static const struct pios_tim_channel pios_tim_servoport_pins[] = { TIM_SERVO_CHANNEL_CONFIG(TIM2, 1, A, 0), // bank 1 TIM_SERVO_CHANNEL_CONFIG(TIM2, 2, A, 1), // bank 1 TIM_SERVO_CHANNEL_CONFIG(TIM2, 3, A, 2), // bank 1 TIM_SERVO_CHANNEL_CONFIG(TIM15, 2, A, 3), // bank 2 TIM_SERVO_CHANNEL_CONFIG(TIM3, 1, A, 6), // bank 3 TIM_SERVO_CHANNEL_CONFIG(TIM3, 2, A, 7), // bank 3 TIM_SERVO_CHANNEL_CONFIG(TIM3, 3, B, 0), // bank 3 TIM_SERVO_CHANNEL_CONFIG(TIM3, 4, B, 1), // bank 3 }; static const struct pios_tim_channel pios_tim_ppm_flexi_port = TIM_SERVO_CHANNEL_CONFIG(TIM2, 4, B, 11); #if defined(PIOS_INCLUDE_USART) #define GPIO_AF_USART1 GPIO_AF_7 #define GPIO_AF_USART2 GPIO_AF_7 #define GPIO_AF_USART3 GPIO_AF_7 #include "pios_usart_priv.h" #include "pios_usart_config.h" static const struct pios_usart_cfg pios_usart_cfg[] = { USART_CONFIG(USART1, A, 10, A, 9), USART_CONFIG(USART2, A, 15, A, 14), USART_CONFIG(USART3, B, 11, B, 10), }; #endif /* PIOS_INCLUDE_USART */ #if defined(PIOS_INCLUDE_COM) #include "pios_com_priv.h" #endif /* PIOS_INCLUDE_COM */ #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_Div32, .prescaler = 25 - 1, // 8Mhz / 32 / 16 / 25 => 625Hz .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 /* if defined(PIOS_INCLUDE_RTC) */ #if defined(PIOS_INCLUDE_SERVO) && defined(PIOS_INCLUDE_TIM) /* * Servo outputs */ #include 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_pins, .num_channels = NELEMENTS(pios_tim_servoport_pins), }; #endif /* PIOS_INCLUDE_SERVO && PIOS_INCLUDE_TIM */ /* * PPM Inputs */ #if defined(PIOS_INCLUDE_PPM) #include static const struct pios_tim_channel pios_tim_ppm_channel = TIM_SERVO_CHANNEL_CONFIG(TIM8, 1, A, 15); 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_ppm_channel, .num_channels = 1, }; #endif /* PIOS_INCLUDE_PPM */ /* * SONAR Inputs */ #if defined(PIOS_INCLUDE_HCSR04) #include static const struct pios_tim_channel pios_tim_hcsr04_port_all_channels[] = { { .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_hcsr04_cfg pios_hcsr04_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_hcsr04_port_all_channels, .num_channels = NELEMENTS(pios_tim_hcsr04_port_all_channels), .trigger = { .gpio = GPIOB, .init = { .GPIO_Pin = GPIO_Pin_6, .GPIO_Mode = GPIO_Mode_Out_PP, .GPIO_Speed = GPIO_Speed_2MHz, }, }, }; #endif /* if defined(PIOS_INCLUDE_HCSR04) */ #if defined(PIOS_INCLUDE_I2C) #include /* * I2C Adapters */ void PIOS_I2C_ev_irq_handler(void); void PIOS_I2C_er_irq_handler(void); void I2C1_EV_EXTI23_IRQHandler() __attribute__((alias("PIOS_I2C_ev_irq_handler"))); void I2C1_ER_IRQHandler() __attribute__((alias("PIOS_I2C_er_irq_handler"))); static const struct pios_i2c_adapter_cfg pios_i2c_cfg = { .regs = I2C1, .remapSCL = GPIO_AF_4, .remapSDA = GPIO_AF_4, .init = { .I2C_Mode = I2C_Mode_I2C, .I2C_OwnAddress1 = 0, .I2C_Ack = I2C_Ack_Enable, .I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit, .I2C_DigitalFilter = 0x00, .I2C_AnalogFilter = I2C_AnalogFilter_Enable, // .I2C_Timing = 0x70310309, // 50kHz I2C @ 8MHz input -> PRESC=0x7, SCLDEL=0x3, SDADEL=0x1, SCLH=0x03, SCLL=0x09 .I2C_Timing = 0x00E0257A, // 400 Khz, 72Mhz Clock, Analog Filter Delay ON, Rise 100, Fall 10. }, .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_PP, .GPIO_PuPd = GPIO_PuPd_UP, }, .pin_source = GPIO_PinSource6, }, .sda = { .gpio = GPIOB, .init = { .GPIO_Pin = GPIO_Pin_7, .GPIO_Mode = GPIO_Mode_AF, .GPIO_Speed = GPIO_Speed_50MHz, .GPIO_OType = GPIO_OType_PP, .GPIO_PuPd = GPIO_PuPd_UP, }, .pin_source = GPIO_PinSource7, }, .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_id; void PIOS_I2C_ev_irq_handler(void) { /* Call into the generic code to handle the IRQ for this specific device */ PIOS_I2C_EV_IRQ_Handler(pios_i2c_id); } void PIOS_I2C_er_irq_handler(void) { /* Call into the generic code to handle the IRQ for this specific device */ PIOS_I2C_ER_IRQ_Handler(pios_i2c_id); } #endif /* PIOS_INCLUDE_I2C */ #if defined(PIOS_INCLUDE_RCVR) #include "pios_rcvr_priv.h" #endif /* PIOS_INCLUDE_RCVR */ #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, }, }, }; const struct pios_usb_cfg *PIOS_BOARD_HW_DEFS_GetUsbCfg(__attribute__((unused)) uint32_t board_revision) { return &pios_usb_main_cfg; } #endif /* PIOS_INCLUDE_USB */ #if defined(PIOS_INCLUDE_ADC) #include "pios_adc_priv.h" void PIOS_ADC_DMC_irq_handler(void); void DMA2_Channel1_IRQHandler(void) __attribute__((alias("PIOS_ADC_DMC_irq_handler"))); struct pios_adc_cfg pios_adc_cfg = { .adc_dev = ADC2, .dma = { .irq = { .flags = (DMA2_FLAG_TC1 | DMA2_FLAG_TE1 | DMA2_FLAG_HT1), .init = { .NVIC_IRQChannel = DMA2_Channel1_IRQn, .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW, .NVIC_IRQChannelSubPriority = 0, .NVIC_IRQChannelCmd = ENABLE, }, }, .rx = { .channel = DMA2_Channel1, } }, .half_flag = DMA2_FLAG_HT1, .full_flag = DMA2_FLAG_TC1, }; void PIOS_ADC_DMC_irq_handler(void) { /* Call into the generic code to handle the IRQ for this specific device */ PIOS_ADC_DMA_Handler(); } const struct pios_adc_cfg *PIOS_BOARD_HW_DEFS_GetAdcCfg(__attribute__((unused)) uint32_t board_revision) { return &pios_adc_cfg; } #endif /* if defined(PIOS_INCLUDE_ADC) */ #if defined(PIOS_INCLUDE_HMC5X83) #include "pios_hmc5x83.h" pios_hmc5x83_dev_t external_mag = 0; static const struct pios_hmc5x83_cfg pios_hmc5x83_external_cfg = { #ifdef PIOS_HMC5X83_HAS_GPIOS .exti_cfg = NULL, #endif .M_ODR = PIOS_HMC5x83_ODR_75, // if you change this for auxmag, change AUX_MAG_SKIP in sensors.c .Meas_Conf = PIOS_HMC5x83_MEASCONF_NORMAL, .Gain = PIOS_HMC5x83_GAIN_1_9, .Mode = PIOS_HMC5x83_MODE_CONTINUOUS, .TempCompensation = false, .Driver = &PIOS_HMC5x83_I2C_DRIVER, .Orientation = PIOS_HMC5X83_ORIENTATION_EAST_NORTH_UP, // ENU for GPSV9, WND for typical I2C mag }; const struct pios_hmc5x83_cfg *PIOS_BOARD_HW_DEFS_GetExternalHMC5x83Cfg(__attribute__((unused)) uint32_t board_revision) { return &pios_hmc5x83_external_cfg; } #endif /* PIOS_INCLUDE_HMC5X83 */ #ifdef PIOS_INCLUDE_BMP280 #include "pios_bmp280.h" static const struct pios_bmp280_cfg bmp280_config = { .oversampling = BMP280_ULTRA_HIGH_RESOLUTION }; const struct pios_bmp280_cfg *PIOS_BOARD_HW_DEFS_GetBMP280Cfg(__attribute__((unused)) uint32_t board_revision) { return &bmp280_config; } #endif /** * Configuration for the MPU9250 chip */ #if defined(PIOS_INCLUDE_MPU9250) #include "pios_mpu9250.h" static const struct pios_exti_cfg pios_exti_mpu9250_cfg __exti_config = { .vector = PIOS_MPU9250_IRQHandler, .line = EXTI_Line13, .pin = { .gpio = GPIOC, .init = { .GPIO_Pin = GPIO_Pin_13, .GPIO_Speed = GPIO_Speed_50MHz, .GPIO_Mode = GPIO_Mode_IN, .GPIO_OType = GPIO_OType_OD, .GPIO_PuPd = GPIO_PuPd_NOPULL, }, }, .irq = { .init = { .NVIC_IRQChannel = EXTI15_10_IRQn, .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH, .NVIC_IRQChannelSubPriority = 0, .NVIC_IRQChannelCmd = ENABLE, }, }, .exti = { .init = { .EXTI_Line = EXTI_Line13, // matches above GPIO pin .EXTI_Mode = EXTI_Mode_Interrupt, .EXTI_Trigger = EXTI_Trigger_Rising, .EXTI_LineCmd = ENABLE, }, }, }; static const struct pios_mpu9250_cfg pios_mpu9250_cfg = { .exti_cfg = &pios_exti_mpu9250_cfg, .Fifo_store = 0, // Clock at 8 khz .Smpl_rate_div_no_dlp = 0, // with dlp on output rate is 1000Hz .Smpl_rate_div_dlp = 0, .interrupt_cfg = PIOS_MPU9250_INT_CLR_ANYRD, // | PIOS_MPU9250_INT_LATCH_EN, .interrupt_en = PIOS_MPU9250_INTEN_DATA_RDY, .User_ctl = PIOS_MPU9250_USERCTL_DIS_I2C | PIOS_MPU9250_USERCTL_I2C_MST_EN, .Pwr_mgmt_clk = PIOS_MPU9250_PWRMGMT_PLL_Z_CLK, .accel_range = PIOS_MPU9250_ACCEL_8G, .gyro_range = PIOS_MPU9250_SCALE_2000_DEG, .filter = PIOS_MPU9250_LOWPASS_256_HZ, .orientation = PIOS_MPU9250_TOP_270DEG, .fast_prescaler = PIOS_SPI_PRESCALER_4, .std_prescaler = PIOS_SPI_PRESCALER_64, .max_downsample = 26, }; const struct pios_mpu9250_cfg *PIOS_BOARD_HW_DEFS_GetMPU9250Cfg(__attribute__((unused)) uint32_t board_revision) { return &pios_mpu9250_cfg; } #endif /* PIOS_INCLUDE_MPU9250 */