/** ****************************************************************************** * * @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 /** * PIOS_Board_Init() * initializes all the core subsystems on this specific hardware * called from System/openpilot.c */ void PIOS_Board_Init(void) { /* Enable Prefetch Buffer */ FLASH_PrefetchBufferCmd(FLASH_PrefetchBuffer_Enable); /* Flash 2 wait state */ FLASH_SetLatency(FLASH_Latency_2); /* Delay system */ PIOS_DELAY_Init(); /* SPI Init */ // PIOS_SPI_Init(); /* Initialize the PiOS library */ PIOS_COM_Init(); PIOS_GPIO_Init(); #if defined(PIOS_INCLUDE_USB_HID) PIOS_USB_HID_Init(0); #endif //PIOS_I2C_Init(); RCC_AHBPeriphClockCmd(RCC_AHBPeriph_CRC, ENABLE);//TODO Tirar } // *********************************************************************************** // 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 = { .handler = PIOS_SPI_port_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_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, }, }, }; /* * Board specific number of devices. */ struct pios_spi_dev pios_spi_devs[] = { { .cfg = &pios_spi_port_cfg, }, }; uint8_t pios_spi_num_devices = NELEMENTS(pios_spi_devs); 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); } #endif /* PIOS_INCLUDE_SPI */ // *********************************************************************************** // USART #if defined(PIOS_INCLUDE_USART) #include /* * SERIAL USART */ void PIOS_USART_serial_irq_handler(void); void USART1_IRQHandler() __attribute__ ((alias ("PIOS_USART_serial_irq_handler"))); const struct pios_usart_cfg pios_usart_serial_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_serial_irq_handler, .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, }, }, }; /* * Board specific number of devices. */ struct pios_usart_dev pios_usart_devs[] = { #define PIOS_USART_SERIAL 0 { .cfg = &pios_usart_serial_cfg, }, }; uint8_t pios_usart_num_devices = NELEMENTS(pios_usart_devs); void PIOS_USART_serial_irq_handler(void) { PIOS_USART_IRQ_Handler(PIOS_USART_SERIAL); } #endif /* PIOS_INCLUDE_USART */ // *********************************************************************************** #if defined(PIOS_INCLUDE_COM) #include /* * COM devices */ /* * Board specific number of devices. */ extern const struct pios_com_driver pios_usart_com_driver; #if defined(PIOS_INCLUDE_USB_HID) extern const struct pios_com_driver pios_usb_com_driver; #endif struct pios_com_dev pios_com_devs[] = { { .id = 0, .driver = &pios_usb_com_driver, }, { .id = 0, .driver = &pios_usb_com_driver, }, { .id = 0, .driver = &pios_usb_com_driver, }, }; const uint8_t pios_com_num_devices = NELEMENTS(pios_com_devs); #endif /* PIOS_INCLUDE_COM */ // ***********************************************************************************