/** ****************************************************************************** * * @file board_hw_defs.c.h * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2013. * @brief Defines board hardware for the OpenPilot OPLink Mini 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 */ #if defined(PIOS_INCLUDE_LED) #include static const struct pios_gpio pios_leds[] = { [PIOS_LED_USB] = { .pin = { .gpio = GPIOA, .init = { .GPIO_Pin = GPIO_Pin_3, .GPIO_Mode = GPIO_Mode_Out_PP, .GPIO_Speed = GPIO_Speed_50MHz, }, }, .active_low = true }, [PIOS_LED_LINK] = { .pin = { .gpio = GPIOB, .init = { .GPIO_Pin = GPIO_Pin_5, .GPIO_Mode = GPIO_Mode_Out_PP, .GPIO_Speed = GPIO_Speed_50MHz, }, }, .active_low = true }, [PIOS_LED_RX] = { .pin = { .gpio = GPIOB, .init = { .GPIO_Pin = GPIO_Pin_6, .GPIO_Mode = GPIO_Mode_Out_PP, .GPIO_Speed = GPIO_Speed_50MHz, }, }, .active_low = true }, [PIOS_LED_TX] = { .pin = { .gpio = GPIOB, .init = { .GPIO_Pin = GPIO_Pin_7, .GPIO_Mode = GPIO_Mode_Out_PP, .GPIO_Speed = GPIO_Speed_50MHz, }, }, .active_low = true }, #ifdef PIOS_RFM22B_DEBUG_ON_TELEM [PIOS_LED_D1] = { .pin = { .gpio = GPIOB, .init = { .GPIO_Pin = GPIO_Pin_14, .GPIO_Mode = GPIO_Mode_Out_PP, .GPIO_Speed = GPIO_Speed_50MHz, }, }, }, [PIOS_LED_D2] = { .pin = { .gpio = GPIOB, .init = { .GPIO_Pin = GPIO_Pin_15, .GPIO_Mode = GPIO_Mode_Out_PP, .GPIO_Speed = GPIO_Speed_50MHz, }, }, }, [PIOS_LED_D3] = { .pin = { .gpio = GPIOA, .init = { .GPIO_Pin = GPIO_Pin_9, .GPIO_Mode = GPIO_Mode_Out_PP, .GPIO_Speed = GPIO_Speed_50MHz, }, }, }, [PIOS_LED_D4] = { .pin = { .gpio = GPIOA, .init = { .GPIO_Pin = GPIO_Pin_10, .GPIO_Mode = GPIO_Mode_Out_PP, .GPIO_Speed = GPIO_Speed_50MHz, }, }, }, #endif /* ifdef PIOS_RFM22B_DEBUG_ON_TELEM */ }; 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_FLASH) #include "pios_flashfs_logfs_priv.h" #include "pios_flash_internal_priv.h" static const struct pios_flash_internal_cfg flash_internal_cfg = {}; static const struct flashfs_logfs_cfg flashfs_internal_cfg = { .fs_magic = 0x99abcfef, .total_fs_size = EE_BANK_SIZE, /* 2K bytes (2x1KB sectors) */ .arena_size = 0x00002000, /* 4 * slot size = 1K bytes = 1 sector */ .slot_size = 0x00000100, /* 256 bytes */ .start_offset = EE_BANK_BASE, /* start after the bootloader */ .sector_size = 0x00000400, /* 1K bytes */ .page_size = 0x00000400, /* 1K bytes */ }; #include "pios_flash.h" #endif /* PIOS_INCLUDE_FLASH */ #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_rfm22b_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 = 0, .SPI_CPOL = SPI_CPOL_Low, .SPI_CPHA = SPI_CPHA_1Edge, .SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_16, // 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, }, }, }, .slave_count = 1, .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, }, }, }; uint32_t pios_spi_rfm22b_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_rfm22b_id); } #endif /* PIOS_INCLUDE_SPI */ #if defined(PIOS_INCLUDE_RFM22B) #include static const struct pios_exti_cfg pios_exti_rfm22b_cfg __exti_config = { .vector = PIOS_RFM22_EXT_Int, .line = EXTI_Line2, .pin = { .gpio = GPIOA, .init = { .GPIO_Pin = GPIO_Pin_2, .GPIO_Mode = GPIO_Mode_IN_FLOATING, }, }, .irq = { .init = { .NVIC_IRQChannel = EXTI2_IRQn, .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW, .NVIC_IRQChannelSubPriority = 0, .NVIC_IRQChannelCmd = ENABLE, }, }, .exti = { .init = { .EXTI_Line = EXTI_Line2, .EXTI_Mode = EXTI_Mode_Interrupt, .EXTI_Trigger = EXTI_Trigger_Falling, .EXTI_LineCmd = ENABLE, }, }, }; struct pios_rfm22b_cfg pios_rfm22b_cfg = { .spi_cfg = &pios_spi_rfm22b_cfg, .exti_cfg = &pios_exti_rfm22b_cfg, .RFXtalCap = 0x7f, .slave_num = 0, .gpio_direction = GPIO0_TX_GPIO1_RX, }; // ! Compatibility layer for various hardware revisions const struct pios_rfm22b_cfg *PIOS_BOARD_HW_DEFS_GetRfm22bCfg(__attribute__((unused)) uint32_t board_revision) { return &pios_rfm22b_cfg; } #if defined(PIOS_INCLUDE_OPENLRS) #include static const struct pios_exti_cfg pios_exti_openlrs_cfg __exti_config = { .vector = PIOS_OpenLRS_EXT_Int, .line = EXTI_Line2, .pin = { .gpio = GPIOA, .init = { .GPIO_Pin = GPIO_Pin_2, .GPIO_Mode = GPIO_Mode_IN_FLOATING, }, }, .irq = { .init = { .NVIC_IRQChannel = EXTI2_IRQn, .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW, .NVIC_IRQChannelSubPriority = 0, .NVIC_IRQChannelCmd = ENABLE, }, }, .exti = { .init = { .EXTI_Line = EXTI_Line2, .EXTI_Mode = EXTI_Mode_Interrupt, .EXTI_Trigger = EXTI_Trigger_Falling, .EXTI_LineCmd = ENABLE, }, }, }; struct pios_openlrs_cfg pios_openlrs_cfg = { .spi_cfg = &pios_spi_rfm22b_cfg, .exti_cfg = &pios_exti_openlrs_cfg, }; // ! Compatibility layer for various hardware revisions const struct pios_openlrs_cfg *PIOS_BOARD_HW_DEFS_GetOpenLRSCfg(__attribute__((unused)) uint32_t board_revision) { return &pios_openlrs_cfg; } #endif /* PIOS_INCLUDE_OpenLRS */ #endif /* PIOS_INCLUDE_RFM22B */ #if defined(PIOS_INCLUDE_ADC) /* * 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(); } #endif /* PIOS_INCLUDE_ADC */ #if defined(PIOS_INCLUDE_TIM) #include "pios_tim_priv.h" static const TIM_TimeBaseInitTypeDef tim_1_2_3_4_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_1_2_3_4_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_1_2_3_4_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_1_2_3_4_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_1_2_3_4_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_channel pios_tim_all_port_pins[] = { /* Main Tx */ { .timer = TIM1, .timer_chan = TIM_Channel_2, .pin = { .gpio = GPIOA, .init = { .GPIO_Pin = GPIO_Pin_9, .GPIO_Mode = GPIO_Mode_AF_PP, .GPIO_Speed = GPIO_Speed_2MHz, }, }, }, /* Main Rx */ { .timer = TIM1, .timer_chan = TIM_Channel_3, .pin = { .gpio = GPIOA, .init = { .GPIO_Pin = GPIO_Pin_10, .GPIO_Mode = GPIO_Mode_AF_PP, .GPIO_Speed = GPIO_Speed_2MHz, }, }, }, /* Flexi Tx */ { .timer = TIM2, .timer_chan = TIM_Channel_3, .pin = { .gpio = GPIOB, .init = { .GPIO_Pin = GPIO_Pin_10, .GPIO_Mode = GPIO_Mode_AF_PP, .GPIO_Speed = GPIO_Speed_2MHz, }, }, .remap = GPIO_PartialRemap2_TIM2, }, /* Flexi Rx */ { .timer = TIM2, .timer_chan = TIM_Channel_4, .pin = { .gpio = GPIOB, .init = { .GPIO_Pin = GPIO_Pin_11, .GPIO_Mode = GPIO_Mode_AF_PP, .GPIO_Speed = GPIO_Speed_2MHz, }, }, .remap = GPIO_PartialRemap2_TIM2, }, }; static const struct pios_tim_channel pios_tim_main_port_ppm = { .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, }, }, }; static const struct pios_tim_channel pios_tim_flexi_port_ppm = { .timer = TIM2, .timer_chan = TIM_Channel_4, .pin = { .gpio = GPIOB, .init = { .GPIO_Pin = GPIO_Pin_11, .GPIO_Mode = GPIO_Mode_IPD, .GPIO_Speed = GPIO_Speed_2MHz, }, }, .remap = GPIO_PartialRemap2_TIM2, }; #endif /* PIOS_INCLUDE_TIM */ #if defined(PIOS_INCLUDE_SERVO) && defined(PIOS_INCLUDE_TIM) /* * Servo outputs */ #include const struct pios_servo_cfg pios_servo_main_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_all_port_pins, .num_channels = 2 }; const struct pios_servo_cfg pios_servo_flexi_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_all_port_pins[2]), .num_channels = 2 }; const struct pios_servo_cfg pios_servo_main_flexi_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_all_port_pins, .num_channels = 4 }; #endif /* PIOS_INCLUDE_SERVO && PIOS_INCLUDE_TIM */ /* * PPM Inputs */ #if defined(PIOS_INCLUDE_PPM) #include const struct pios_ppm_cfg pios_ppm_main_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_main_port_ppm, .num_channels = 1, }; const struct pios_ppm_cfg pios_ppm_flexi_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_flexi_port_ppm, .num_channels = 1, }; #endif /* PIOS_INCLUDE_PPM */ /* * PPM Output */ #if defined(PIOS_INCLUDE_PPM_OUT) #include const struct pios_ppm_out_cfg pios_main_ppm_out_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_Low, .TIM_OCNPolarity = TIM_OCPolarity_Low, .TIM_OCIdleState = TIM_OCIdleState_Reset, .TIM_OCNIdleState = TIM_OCNIdleState_Reset, }, .channel = &(pios_tim_all_port_pins[0]), }; const struct pios_ppm_out_cfg pios_flexi_ppm_out_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_Low, .TIM_OCNPolarity = TIM_OCPolarity_Low, .TIM_OCIdleState = TIM_OCIdleState_Reset, .TIM_OCNIdleState = TIM_OCNIdleState_Reset, }, .channel = &(pios_tim_all_port_pins[2]), }; #endif /* PIOS_INCLUDE_PPM_OUT */ #if defined(PIOS_INCLUDE_USART) #include /* * SERIAL USART */ static const struct pios_usart_cfg pios_usart_main_cfg = { .regs = USART1, .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 const struct pios_usart_cfg pios_usart_flexi_cfg = { .regs = USART3, .rx = { .gpio = GPIOB, .init = { .GPIO_Pin = GPIO_Pin_11, .GPIO_Speed = GPIO_Speed_2MHz, .GPIO_Mode = GPIO_Mode_IPU, }, }, .tx = { .gpio = GPIOB, .init = { .GPIO_Pin = GPIO_Pin_10, .GPIO_Speed = GPIO_Speed_2MHz, .GPIO_Mode = GPIO_Mode_AF_PP, }, }, }; #endif /* PIOS_INCLUDE_USART */ #if defined(PIOS_INCLUDE_COM) #include #endif /* PIOS_INCLUDE_COM */ #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_RTC) */ #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_HIGH, .NVIC_IRQChannelSubPriority = 0, .NVIC_IRQChannelCmd = ENABLE, }, }, .vsense = { .gpio = GPIOA, .init = { .GPIO_Pin = GPIO_Pin_8, .GPIO_Speed = GPIO_Speed_10MHz, .GPIO_Mode = GPIO_Mode_AF_OD, }, }, .vsense_active_low = false }; const struct pios_usb_cfg *PIOS_BOARD_HW_DEFS_GetUsbCfg(__attribute__((unused)) uint32_t board_revision) { return &pios_usb_main_cfg; } #include "pios_usb_board_data_priv.h" #include "pios_usb_desc_hid_cdc_priv.h" #include "pios_usb_desc_hid_only_priv.h" #endif /* PIOS_INCLUDE_USB */ #if defined(PIOS_INCLUDE_COM_MSG) #include #endif /* PIOS_INCLUDE_COM_MSG */ #if defined(PIOS_INCLUDE_FLASH_EEPROM) #include const struct pios_eeprom_cfg pios_eeprom_cfg = { .base_address = PIOS_FLASH_EEPROM_ADDR, .max_size = PIOS_FLASH_EEPROM_LEN, }; #endif /* PIOS_INCLUDE_FLASH_EEPROM */ #if defined(PIOS_INCLUDE_RFM22B) #include #endif /* PIOS_INCLUDE_RFM22B */