/** ****************************************************************************** * @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 */ #define BOARD_REVISION_CC 1 #define BOARD_REVISION_CC3D 2 #if defined(PIOS_INCLUDE_LED) #include static const struct pios_gpio pios_leds_cc[] = { [PIOS_LED_HEARTBEAT] = { .pin = { .gpio = GPIOA, .init = { .GPIO_Pin = GPIO_Pin_6, .GPIO_Mode = GPIO_Mode_Out_PP, .GPIO_Speed = GPIO_Speed_50MHz, }, }, .active_low = true }, }; static const struct pios_gpio_cfg pios_led_cfg_cc = { .gpios = pios_leds_cc, .num_gpios = NELEMENTS(pios_leds_cc), }; static const struct pios_gpio pios_leds_cc3d[] = { [PIOS_LED_HEARTBEAT] = { .pin = { .gpio = GPIOB, .init = { .GPIO_Pin = GPIO_Pin_3, .GPIO_Mode = GPIO_Mode_Out_PP, .GPIO_Speed = GPIO_Speed_50MHz, }, }, .remap = GPIO_Remap_SWJ_JTAGDisable, .active_low = true }, }; static const struct pios_gpio_cfg pios_led_cfg_cc3d = { .gpios = pios_leds_cc3d, .num_gpios = NELEMENTS(pios_leds_cc3d), }; const struct pios_gpio_cfg *PIOS_BOARD_HW_DEFS_GetLedCfg(uint32_t board_revision) { switch (board_revision) { case BOARD_REVISION_CC: return &pios_led_cfg_cc; case BOARD_REVISION_CC3D: return &pios_led_cfg_cc3d; default: return NULL; } } #endif /* PIOS_INCLUDE_LED */ #if defined(PIOS_INCLUDE_SPI) #include /* Gyro interface */ void PIOS_SPI_gyro_irq_handler(void); void DMA1_Channel2_IRQHandler() __attribute__((alias("PIOS_SPI_gyro_irq_handler"))); void DMA1_Channel3_IRQHandler() __attribute__((alias("PIOS_SPI_gyro_irq_handler"))); static const struct pios_spi_cfg pios_spi_gyro_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, }, }, }, .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, }, }, .slave_count = 1, .ssel = { { .gpio = GPIOA, .init = { .GPIO_Pin = GPIO_Pin_4, .GPIO_Speed = GPIO_Speed_50MHz, .GPIO_Mode = GPIO_Mode_Out_PP, }, } }, }; uint32_t pios_spi_gyro_adapter_id; void PIOS_SPI_gyro_irq_handler(void) { /* Call into the generic code to handle the IRQ for this specific device */ PIOS_SPI_IRQ_Handler(pios_spi_gyro_adapter_id); } /* Flash/Accel 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_flash_accel_irq_handler(void); void DMA1_Channel4_IRQHandler() __attribute__((alias("PIOS_SPI_flash_accel_irq_handler"))); void DMA1_Channel5_IRQHandler() __attribute__((alias("PIOS_SPI_flash_accel_irq_handler"))); static const struct pios_spi_cfg pios_spi_flash_accel_cfg_cc3d = { .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, }, }, }, .sclk = { .gpio = GPIOB, .init = { .GPIO_Pin = GPIO_Pin_13, .GPIO_Speed = GPIO_Speed_50MHz, .GPIO_Mode = GPIO_Mode_AF_PP, }, }, .miso = { .gpio = GPIOB, .init = { .GPIO_Pin = GPIO_Pin_14, .GPIO_Speed = GPIO_Speed_50MHz, .GPIO_Mode = GPIO_Mode_IN_FLOATING, }, }, .mosi = { .gpio = GPIOB, .init = { .GPIO_Pin = GPIO_Pin_15, .GPIO_Speed = GPIO_Speed_50MHz, .GPIO_Mode = GPIO_Mode_AF_PP, }, }, .slave_count = 2, .ssel = { { .gpio = GPIOB, .init = { .GPIO_Pin = GPIO_Pin_12, .GPIO_Speed = GPIO_Speed_50MHz, .GPIO_Mode = GPIO_Mode_Out_PP, } },{ .gpio = GPIOC, .init = { .GPIO_Pin = GPIO_Pin_15, .GPIO_Speed = GPIO_Speed_50MHz, .GPIO_Mode = GPIO_Mode_Out_PP, }, } }, }; static const struct pios_spi_cfg pios_spi_flash_accel_cfg_cc = { .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, }, }, }, .sclk = { .gpio = GPIOB, .init = { .GPIO_Pin = GPIO_Pin_13, .GPIO_Speed = GPIO_Speed_50MHz, .GPIO_Mode = GPIO_Mode_AF_PP, }, }, .miso = { .gpio = GPIOB, .init = { .GPIO_Pin = GPIO_Pin_14, .GPIO_Speed = GPIO_Speed_50MHz, .GPIO_Mode = GPIO_Mode_IN_FLOATING, }, }, .mosi = { .gpio = GPIOB, .init = { .GPIO_Pin = GPIO_Pin_15, .GPIO_Speed = GPIO_Speed_50MHz, .GPIO_Mode = GPIO_Mode_AF_PP, }, }, .slave_count = 2, .ssel = { { .gpio = GPIOB, .init = { .GPIO_Pin = GPIO_Pin_12, .GPIO_Speed = GPIO_Speed_50MHz, .GPIO_Mode = GPIO_Mode_Out_PP, } },{ .gpio = GPIOA, .init = { .GPIO_Pin = GPIO_Pin_7, .GPIO_Speed = GPIO_Speed_50MHz, .GPIO_Mode = GPIO_Mode_Out_PP, }, } }, }; uint32_t pios_spi_flash_accel_adapter_id; void PIOS_SPI_flash_accel_irq_handler(void) { /* Call into the generic code to handle the IRQ for this specific device */ PIOS_SPI_IRQ_Handler(pios_spi_flash_accel_adapter_id); } #endif /* PIOS_INCLUDE_SPI */ #if defined(PIOS_INCLUDE_FLASH) #include "pios_flashfs_logfs_priv.h" #include "pios_flash_jedec_priv.h" static const struct flashfs_logfs_cfg flashfs_w25x_cfg = { .fs_magic = 0x99abcdef, .total_fs_size = 0x00080000, /* 512K bytes (128 sectors = entire chip) */ .arena_size = 0x00010000, /* 256 * slot size */ .slot_size = 0x00000100, /* 256 bytes */ .start_offset = 0, /* start at the beginning of the chip */ .sector_size = 0x00001000, /* 4K bytes */ .page_size = 0x00000100, /* 256 bytes */ }; static const struct flashfs_logfs_cfg flashfs_m25p_cfg = { .fs_magic = 0x99abceef, .total_fs_size = 0x00200000, /* 2M bytes (32 sectors = entire chip) */ .arena_size = 0x00010000, /* 256 * slot size */ .slot_size = 0x00000100, /* 256 bytes */ .start_offset = 0, /* start at the beginning of the chip */ .sector_size = 0x00010000, /* 64K bytes */ .page_size = 0x00000100, /* 256 bytes */ }; #include "pios_flash.h" #endif /* PIOS_INCLUDE_FLASH */ /* * ADC system */ #if defined(PIOS_INCLUDE_ADC) #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_MID, .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, }; void PIOS_ADC_handler() { 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) */ #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, }, }, }; #include "pios_servo_config.h" static const struct pios_tim_channel pios_tim_rcvrport_all_channels[] = { TIM_SERVO_CHANNEL_CONFIG(TIM4, 1, B, 6, 0), TIM_SERVO_CHANNEL_CONFIG(TIM3, 2, B, 5, GPIO_PartialRemap_TIM3), TIM_SERVO_CHANNEL_CONFIG(TIM3, 3, B, 0, 0), TIM_SERVO_CHANNEL_CONFIG(TIM3, 4, B, 1, 0), TIM_SERVO_CHANNEL_CONFIG(TIM2, 1, A, 0, 0), TIM_SERVO_CHANNEL_CONFIG(TIM2, 2, A, 1, 0), }; static const struct pios_tim_channel pios_tim_servoport_all_pins[] = { TIM_SERVO_CHANNEL_CONFIG(TIM4, 4, B, 9, 0), TIM_SERVO_CHANNEL_CONFIG(TIM4, 3, B, 8, 0), TIM_SERVO_CHANNEL_CONFIG(TIM4, 2, B, 7, 0), TIM_SERVO_CHANNEL_CONFIG(TIM1, 1, A, 8, 0), TIM_SERVO_CHANNEL_CONFIG(TIM3, 1, B, 4, GPIO_PartialRemap_TIM3), TIM_SERVO_CHANNEL_CONFIG(TIM2, 3, A, 2, 0), }; static const struct pios_tim_channel pios_tim_servoport_rcvrport_pins[] = { TIM_SERVO_CHANNEL_CONFIG(TIM4, 4, B, 9, 0), TIM_SERVO_CHANNEL_CONFIG(TIM4, 3, B, 8, 0), TIM_SERVO_CHANNEL_CONFIG(TIM4, 2, B, 7, 0), TIM_SERVO_CHANNEL_CONFIG(TIM1, 1, A, 8, 0), TIM_SERVO_CHANNEL_CONFIG(TIM3, 1, B, 4, GPIO_PartialRemap_TIM3), TIM_SERVO_CHANNEL_CONFIG(TIM2, 3, A, 2, 0), // Receiver port pins // S3-S6 inputs are used as outputs in this case TIM_SERVO_CHANNEL_CONFIG(TIM3, 3, B, 0, 0), TIM_SERVO_CHANNEL_CONFIG(TIM3, 4, B, 1, 0), TIM_SERVO_CHANNEL_CONFIG(TIM2, 1, A, 0, 0), TIM_SERVO_CHANNEL_CONFIG(TIM2, 2, A, 1, 0), }; static const struct pios_tim_channel pios_tim_ppm_flexi_port = TIM_SERVO_CHANNEL_CONFIG(TIM2, 4, B, 11, GPIO_PartialRemap2_TIM2); #if defined(PIOS_INCLUDE_USART) #include "pios_usart_priv.h" // Inverter for SBUS handling #define MAIN_USART_INVERTER_GPIO GPIOB #define MAIN_USART_INVERTER_PIN GPIO_Pin_2 #define MAIN_USART_INVERTER_ENABLE Bit_SET #define MAIN_USART_INVERTER_DISABLE Bit_RESET static int32_t PIOS_BOARD_USART_Ioctl(uint32_t usart_id, uint32_t ctl, void *param); 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, }, }, .ioctl = PIOS_BOARD_USART_Ioctl, }; 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 "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_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_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_all_pins, .num_channels = NELEMENTS(pios_tim_servoport_all_pins), }; const struct pios_servo_cfg pios_servo_rcvr_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_rcvrport_pins, .num_channels = NELEMENTS(pios_tim_servoport_rcvrport_pins), }; #endif /* PIOS_INCLUDE_SERVO && PIOS_INCLUDE_TIM */ /* * PPM Inputs */ #if defined(PIOS_INCLUDE_PPM) #include 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_rcvrport_all_channels[0], .num_channels = 1, }; const struct pios_ppm_cfg pios_ppm_pin8_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_rcvrport_all_channels[5], .num_channels = 1, }; #endif /* PIOS_INCLUDE_PPM */ #if defined(PIOS_INCLUDE_PPM_FLEXI) #include 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_ppm_flexi_port, .num_channels = 1, }; #endif /* PIOS_INCLUDE_PPM_FLEXI */ /* * PWM Inputs */ #if defined(PIOS_INCLUDE_PWM) #include 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), }; const struct pios_pwm_cfg pios_pwm_with_ppm_cfg = { .tim_ic_init = { .TIM_ICPolarity = TIM_ICPolarity_Rising, .TIM_ICSelection = TIM_ICSelection_DirectTI, .TIM_ICPrescaler = TIM_ICPSC_DIV1, .TIM_ICFilter = 0x0, }, /* Leave the first channel for PPM use and use the rest for PWM */ .channels = &pios_tim_rcvrport_all_channels[1], .num_channels = NELEMENTS(pios_tim_rcvrport_all_channels) - 1, }; #endif /* if defined(PIOS_INCLUDE_PWM) */ /* * 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_flexi_adapter_ev_irq_handler(void); void PIOS_I2C_flexi_adapter_er_irq_handler(void); void I2C2_EV_IRQHandler() __attribute__((alias("PIOS_I2C_flexi_adapter_ev_irq_handler"))); void I2C2_ER_IRQHandler() __attribute__((alias("PIOS_I2C_flexi_adapter_er_irq_handler"))); static const struct pios_i2c_adapter_cfg pios_i2c_flexi_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_flexi_adapter_id; void PIOS_I2C_flexi_adapter_ev_irq_handler(void) { /* Call into the generic code to handle the IRQ for this specific device */ PIOS_I2C_EV_IRQ_Handler(pios_i2c_flexi_adapter_id); } void PIOS_I2C_flexi_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_flexi_adapter_id); } #endif /* PIOS_INCLUDE_I2C */ #if defined(PIOS_INCLUDE_GCSRCVR) #include "pios_gcsrcvr_priv.h" #endif /* PIOS_INCLUDE_GCSRCVR */ #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_cc = { .irq = { .init = { .NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn, .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW, .NVIC_IRQChannelSubPriority = 0, .NVIC_IRQChannelCmd = ENABLE, }, }, .vsense = { .gpio = GPIOC, .init = { .GPIO_Pin = GPIO_Pin_15, .GPIO_Speed = GPIO_Speed_10MHz, .GPIO_Mode = GPIO_Mode_AF_OD, }, }, .vsense_active_low = false }; static const struct pios_usb_cfg pios_usb_main_cfg_cc3d = { .irq = { .init = { .NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn, .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW, .NVIC_IRQChannelSubPriority = 0, .NVIC_IRQChannelCmd = ENABLE, }, }, .vsense = { .gpio = GPIOC, .init = { .GPIO_Pin = GPIO_Pin_14, .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(uint32_t board_revision) { switch (board_revision) { case BOARD_REVISION_CC: return &pios_usb_main_cfg_cc; break; case BOARD_REVISION_CC3D: return &pios_usb_main_cfg_cc3d; break; default: PIOS_DEBUG_Assert(0); } return NULL; } #endif /* PIOS_INCLUDE_USB */ /** * Configuration for MPU6000 chip */ #if defined(PIOS_INCLUDE_MPU6000) #include "pios_mpu6000.h" static const struct pios_exti_cfg pios_exti_mpu6000_cfg __exti_config = { .vector = PIOS_MPU6000_IRQHandler, .line = EXTI_Line3, .pin = { .gpio = GPIOA, .init = { .GPIO_Pin = GPIO_Pin_3, .GPIO_Speed = GPIO_Speed_10MHz, .GPIO_Mode = GPIO_Mode_IN_FLOATING, }, }, .irq = { .init = { .NVIC_IRQChannel = EXTI3_IRQn, .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH, .NVIC_IRQChannelSubPriority = 0, .NVIC_IRQChannelCmd = ENABLE, }, }, .exti = { .init = { .EXTI_Line = EXTI_Line3, // matches above GPIO pin .EXTI_Mode = EXTI_Mode_Interrupt, .EXTI_Trigger = EXTI_Trigger_Rising, .EXTI_LineCmd = ENABLE, }, }, }; static const struct pios_mpu6000_cfg pios_mpu6000_cfg = { .exti_cfg = &pios_exti_mpu6000_cfg, .Fifo_store = PIOS_MPU6000_FIFO_TEMP_OUT | PIOS_MPU6000_FIFO_GYRO_X_OUT | PIOS_MPU6000_FIFO_GYRO_Y_OUT | PIOS_MPU6000_FIFO_GYRO_Z_OUT, // Clock at 8 khz, downsampled by 8 for 1000 Hz .Smpl_rate_div_no_dlp = 7, // Clock at 1 khz, downsampled by 1 for 1000 Hz .Smpl_rate_div_dlp = 0, .interrupt_cfg = PIOS_MPU6000_INT_CLR_ANYRD, .interrupt_en = PIOS_MPU6000_INTEN_DATA_RDY, .User_ctl = PIOS_MPU6000_USERCTL_DIS_I2C, .Pwr_mgmt_clk = PIOS_MPU6000_PWRMGMT_PLL_X_CLK, .accel_range = PIOS_MPU6000_ACCEL_8G, .gyro_range = PIOS_MPU6000_SCALE_2000_DEG, .filter = PIOS_MPU6000_LOWPASS_256_HZ, .orientation = PIOS_MPU6000_TOP_180DEG, .fast_prescaler = PIOS_SPI_PRESCALER_4, .std_prescaler = PIOS_SPI_PRESCALER_64, .max_downsample = 2 }; const struct pios_mpu6000_cfg *PIOS_BOARD_HW_DEFS_GetMPU6000Cfg(__attribute__((unused)) uint32_t board_revision) { return &pios_mpu6000_cfg; } #endif /* PIOS_INCLUDE_MPU6000 */