/** ****************************************************************************** * * @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 PipBee 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 // *********************************************************************************** // SPI #if defined(PIOS_INCLUDE_SPI) #include /* OP Interface * * NOTE: Leave this declared as const data so that it ends up in the * .rodata section (ie. Flash) rather than in the .bss section (RAM). */ void PIOS_SPI_port_irq_handler(void); void DMA1_Channel5_IRQHandler() __attribute__ ((alias ("PIOS_SPI_port_irq_handler"))); void DMA1_Channel4_IRQHandler() __attribute__ ((alias ("PIOS_SPI_port_irq_handler"))); static const struct pios_spi_cfg pios_spi_port_cfg = { .regs = SPI1, // .regs = SPI2, // .regs = SPI3, .init = { .SPI_Mode = SPI_Mode_Master, // .SPI_Mode = SPI_Mode_Slave, .SPI_Direction = SPI_Direction_2Lines_FullDuplex, // .SPI_Direction = SPI_Direction_2Lines_RxOnly, // .SPI_Direction = SPI_Direction_1Line_Rx, // .SPI_Direction = SPI_Direction_1Line_Tx, // .SPI_DataSize = SPI_DataSize_16b, .SPI_DataSize = SPI_DataSize_8b, .SPI_NSS = SPI_NSS_Soft, // .SPI_NSS = SPI_NSS_Hard, .SPI_FirstBit = SPI_FirstBit_MSB, // .SPI_FirstBit = SPI_FirstBit_LSB, .SPI_CRCPolynomial = 0, .SPI_CPOL = SPI_CPOL_Low, // .SPI_CPOL = SPI_CPOL_High, .SPI_CPHA = SPI_CPHA_1Edge, // .SPI_CPHA = SPI_CPHA_2Edge, // .SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_2, // fastest SCLK // .SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_4, // .SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_8, // .SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_16, // .SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_32, // .SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_64, // .SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_128, .SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_256, // slowest SCLK }, .use_crc = FALSE, .dma = { .ahb_clk = RCC_AHBPeriph_DMA1, .irq = { .flags = (DMA1_FLAG_TC2 | DMA1_FLAG_TE2 | DMA1_FLAG_HT2 | DMA1_FLAG_GL2), .init = { .NVIC_IRQChannel = DMA1_Channel2_IRQn, .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH, .NVIC_IRQChannelSubPriority = 0, .NVIC_IRQChannelCmd = ENABLE, }, }, .rx = { .channel = DMA1_Channel2, .init = { .DMA_PeripheralBaseAddr = (uint32_t)&(SPI1->DR), .DMA_DIR = DMA_DIR_PeripheralSRC, .DMA_PeripheralInc = DMA_PeripheralInc_Disable, .DMA_MemoryInc = DMA_MemoryInc_Enable, .DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte, .DMA_MemoryDataSize = DMA_MemoryDataSize_Byte, .DMA_Mode = DMA_Mode_Normal, .DMA_Priority = DMA_Priority_Medium, .DMA_M2M = DMA_M2M_Disable, }, }, .tx = { .channel = DMA1_Channel3, .init = { .DMA_PeripheralBaseAddr = (uint32_t)&(SPI1->DR), .DMA_DIR = DMA_DIR_PeripheralDST, .DMA_PeripheralInc = DMA_PeripheralInc_Disable, .DMA_MemoryInc = DMA_MemoryInc_Enable, .DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte, .DMA_MemoryDataSize = DMA_MemoryDataSize_Byte, .DMA_Mode = DMA_Mode_Normal, .DMA_Priority = DMA_Priority_Medium, .DMA_M2M = DMA_M2M_Disable, }, }, }, .ssel = { .gpio = GPIOA, .init = { .GPIO_Pin = GPIO_Pin_4, .GPIO_Speed = GPIO_Speed_10MHz, .GPIO_Mode = GPIO_Mode_Out_PP, }, }, .sclk = { .gpio = GPIOA, .init = { .GPIO_Pin = GPIO_Pin_5, .GPIO_Speed = GPIO_Speed_10MHz, .GPIO_Mode = GPIO_Mode_AF_PP, }, }, .miso = { .gpio = GPIOA, .init = { .GPIO_Pin = GPIO_Pin_6, .GPIO_Speed = GPIO_Speed_10MHz, .GPIO_Mode = GPIO_Mode_IN_FLOATING, // .GPIO_Mode = GPIO_Mode_IPU, }, }, .mosi = { .gpio = GPIOA, .init = { .GPIO_Pin = GPIO_Pin_7, .GPIO_Speed = GPIO_Speed_10MHz, .GPIO_Mode = GPIO_Mode_AF_PP, }, }, }; uint32_t pios_spi_port_id; void PIOS_SPI_port_irq_handler(void) { /* Call into the generic code to handle the IRQ for this specific device */ PIOS_SPI_IRQ_Handler(pios_spi_port_id); } #endif /* PIOS_INCLUDE_SPI */ /* * ADC system */ #include "pios_adc_priv.h" extern void PIOS_ADC_handler(void); void DMA1_Channel1_IRQHandler() __attribute__ ((alias("PIOS_ADC_handler"))); // Remap the ADC DMA handler to this one static const struct pios_adc_cfg pios_adc_cfg = { .dma = { .ahb_clk = RCC_AHBPeriph_DMA1, .irq = { .flags = (DMA1_FLAG_TC1 | DMA1_FLAG_TE1 | DMA1_FLAG_HT1 | DMA1_FLAG_GL1), .init = { .NVIC_IRQChannel = DMA1_Channel1_IRQn, .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH, .NVIC_IRQChannelSubPriority = 0, .NVIC_IRQChannelCmd = ENABLE, }, }, .rx = { .channel = DMA1_Channel1, .init = { .DMA_PeripheralBaseAddr = (uint32_t) & ADC1->DR, .DMA_DIR = DMA_DIR_PeripheralSRC, .DMA_PeripheralInc = DMA_PeripheralInc_Disable, .DMA_MemoryInc = DMA_MemoryInc_Enable, .DMA_PeripheralDataSize = DMA_PeripheralDataSize_Word, .DMA_MemoryDataSize = DMA_MemoryDataSize_Word, .DMA_Mode = DMA_Mode_Circular, .DMA_Priority = DMA_Priority_High, .DMA_M2M = DMA_M2M_Disable, }, } }, .half_flag = DMA1_IT_HT1, .full_flag = DMA1_IT_TC1, }; struct pios_adc_dev pios_adc_devs[] = { { .cfg = &pios_adc_cfg, .callback_function = NULL, }, }; uint8_t pios_adc_num_devices = NELEMENTS(pios_adc_devs); void PIOS_ADC_handler() { PIOS_ADC_DMA_Handler(); } // *********************************************************************************** // USART #if defined(PIOS_INCLUDE_USART) #include /* * SERIAL USART */ static const struct pios_usart_cfg pios_usart_serial_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_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_AF_PP, }, }, }; #endif /* PIOS_INCLUDE_USART */ // *********************************************************************************** #if defined(PIOS_INCLUDE_COM) #include #define PIOS_COM_TELEM_USB_RX_BUF_LEN 192 #define PIOS_COM_TELEM_USB_TX_BUF_LEN 192 static uint8_t pios_com_telem_usb_rx_buffer[PIOS_COM_TELEM_USB_RX_BUF_LEN]; static uint8_t pios_com_telem_usb_tx_buffer[PIOS_COM_TELEM_USB_TX_BUF_LEN]; #define PIOS_COM_SERIAL_RX_BUF_LEN 192 #define PIOS_COM_SERIAL_TX_BUF_LEN 192 static uint8_t pios_com_serial_rx_buffer[PIOS_COM_SERIAL_RX_BUF_LEN]; static uint8_t pios_com_serial_tx_buffer[PIOS_COM_SERIAL_TX_BUF_LEN]; #endif /* PIOS_INCLUDE_COM */ // *********************************************************************************** #if defined(PIOS_INCLUDE_USB) #include "pios_usb_priv.h" static const struct pios_usb_cfg pios_usb_main_cfg = { .irq = { .init = { .NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn, .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW, .NVIC_IRQChannelSubPriority = 0, .NVIC_IRQChannelCmd = ENABLE, }, }, }; #include "pios_usb_board_data_priv.h" #include "pios_usb_desc_hid_only_priv.h" #endif /* PIOS_INCLUDE_USB */ #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 */ uint32_t pios_com_serial_id; uint32_t pios_com_telem_usb_id; /** * PIOS_Board_Init() * initializes all the core subsystems on this specific hardware * called from System/openpilot.c */ void PIOS_Board_Init(void) { // Bring up System using CMSIS functions, enables the LEDs. PIOS_SYS_Init(); // turn all the leds on USB_LED_ON; LINK_LED_ON; RX_LED_ON; TX_LED_ON; // Delay system PIOS_DELAY_Init(); uint32_t pios_usart_serial_id; if (PIOS_USART_Init(&pios_usart_serial_id, &pios_usart_serial_cfg)) { PIOS_DEBUG_Assert(0); } if (PIOS_COM_Init(&pios_com_serial_id, &pios_usart_com_driver, pios_usart_serial_id, pios_com_serial_rx_buffer, sizeof(pios_com_serial_rx_buffer), pios_com_serial_tx_buffer, sizeof(pios_com_serial_tx_buffer))) { PIOS_DEBUG_Assert(0); } #if defined(PIOS_INCLUDE_USB) /* Initialize board specific USB data */ PIOS_USB_BOARD_DATA_Init(); if (PIOS_USB_DESC_HID_ONLY_Init()) { PIOS_Assert(0); } uint32_t pios_usb_id; PIOS_USB_Init(&pios_usb_id, &pios_usb_main_cfg); #if defined(PIOS_INCLUDE_USB_HID) && defined(PIOS_INCLUDE_COM) uint32_t pios_usb_hid_id; if (PIOS_USB_HID_Init(&pios_usb_hid_id, &pios_usb_hid_cfg, pios_usb_id)) { PIOS_Assert(0); } if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_hid_com_driver, pios_usb_hid_id, pios_com_telem_usb_rx_buffer, sizeof(pios_com_telem_usb_rx_buffer), pios_com_telem_usb_tx_buffer, sizeof(pios_com_telem_usb_tx_buffer))) { PIOS_Assert(0); } #endif /* PIOS_INCLUDE_USB_HID && PIOS_INCLUDE_COM */ #endif /* PIOS_INCLUDE_USB_HID */ // ADC system // PIOS_ADC_Init(); // SPI link to master if (PIOS_SPI_Init(&pios_spi_port_id, &pios_spi_port_cfg)) { PIOS_DEBUG_Assert(0); } }