/** ****************************************************************************** * @addtogroup OpenPilotSystem OpenPilot System * @{ * @addtogroup OpenPilotCore OpenPilot Core * @{ * * @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 OpenPilot 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 #include #include #include #include #include #include /** * PIOS_Board_Init() * initializes all the core subsystems on this specific hardware * called from System/openpilot.c */ void PIOS_Board_Init(void) { /* Delay system */ PIOS_DELAY_Init(); /* SPI Init */ PIOS_SPI_Init(); /* Enable and mount the SDCard */ PIOS_SDCARD_Init(); PIOS_SDCARD_MountFS(0); #if defined(PIOS_INCLUDE_SPEKTRUM) /* SPEKTRUM init must come before comms */ PIOS_SPEKTRUM_Init(); #endif /* Initialize UAVObject libraries */ EventDispatcherInitialize(); UAVObjInitialize(); UAVObjectsInitializeAll(); /* Initialize the alarms library */ AlarmsInitialize(); /* Initialize the PiOS library */ PIOS_COM_Init(); PIOS_Servo_Init(); PIOS_ADC_Init(); PIOS_GPIO_Init(); #if defined(PIOS_INCLUDE_PWM) PIOS_PWM_Init(); #endif #if defined(PIOS_INCLUDE_PPM) PIOS_PPM_Init(); #endif #if defined(PIOS_INCLUDE_USB_HID) PIOS_USB_HID_Init(0); #endif PIOS_I2C_Init(); PIOS_IAP_Init(); } /* MicroSD 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_Channel2_IRQHandler() __attribute__ ((alias ("PIOS_SPI_sdcard_irq_handler"))); void DMA1_Channel3_IRQHandler() __attribute__ ((alias ("PIOS_SPI_sdcard_irq_handler"))); const struct pios_spi_cfg pios_spi_sdcard_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 = 7 << 3, /* Maximum divider (ie. slowest clock rate) */ }, .dma = { .ahb_clk = RCC_AHBPeriph_DMA1, .irq = { .handler = PIOS_SPI_sdcard_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_50MHz, .GPIO_Mode = GPIO_Mode_Out_PP, }, }, .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, }, }, }; /* AHRS 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_ahrs_irq_handler(void); void DMA1_Channel4_IRQHandler() __attribute__ ((alias ("PIOS_SPI_ahrs_irq_handler"))); void DMA1_Channel5_IRQHandler() __attribute__ ((alias ("PIOS_SPI_ahrs_irq_handler"))); const struct pios_spi_cfg pios_spi_ahrs_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 = 7 << 3, /* Maximum divider (ie. slowest clock rate) */ }, .use_crc = TRUE, .dma = { .ahb_clk = RCC_AHBPeriph_DMA1, .irq = { .handler = PIOS_SPI_ahrs_irq_handler, .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_Medium, .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_Medium, .DMA_M2M = DMA_M2M_Disable, }, }, }, .ssel = { .gpio = GPIOB, .init = { .GPIO_Pin = GPIO_Pin_12, .GPIO_Speed = GPIO_Speed_50MHz, .GPIO_Mode = GPIO_Mode_Out_PP, }, }, .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, }, }, }; /* * Board specific number of devices. */ struct pios_spi_dev pios_spi_devs[] = { { .cfg = &pios_spi_sdcard_cfg, }, { .cfg = &pios_spi_ahrs_cfg, }, }; uint8_t pios_spi_num_devices = NELEMENTS(pios_spi_devs); 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_SDCARD_SPI); } void PIOS_SPI_ahrs_irq_handler(void) { /* Call into the generic code to handle the IRQ for this specific device */ PIOS_SPI_IRQ_Handler(PIOS_OPAHRS_SPI); } /* * Telemetry USART */ void PIOS_USART_telem_irq_handler(void); void USART2_IRQHandler() __attribute__ ((alias ("PIOS_USART_telem_irq_handler"))); const struct pios_usart_cfg pios_usart_telem_cfg = { .regs = USART2, .init = { #if defined (PIOS_COM_TELEM_BAUDRATE) .USART_BaudRate = PIOS_COM_TELEM_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_telem_irq_handler, .init = { .NVIC_IRQChannel = USART2_IRQn, .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH, .NVIC_IRQChannelSubPriority = 0, .NVIC_IRQChannelCmd = ENABLE, }, }, .rx = { .gpio = GPIOA, .init = { .GPIO_Pin = GPIO_Pin_3, .GPIO_Speed = GPIO_Speed_2MHz, .GPIO_Mode = GPIO_Mode_IPU, }, }, .tx = { .gpio = GPIOA, .init = { .GPIO_Pin = GPIO_Pin_2, .GPIO_Speed = GPIO_Speed_2MHz, .GPIO_Mode = GPIO_Mode_AF_PP, }, }, }; /* * GPS USART */ void PIOS_USART_gps_irq_handler(void); void USART3_IRQHandler() __attribute__ ((alias ("PIOS_USART_gps_irq_handler"))); const struct pios_usart_cfg pios_usart_gps_cfg = { .regs = USART3, .remap = GPIO_PartialRemap_USART3, .init = { #if defined (PIOS_COM_GPS_BAUDRATE) .USART_BaudRate = PIOS_COM_GPS_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_gps_irq_handler, .init = { .NVIC_IRQChannel = USART3_IRQn, .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH, .NVIC_IRQChannelSubPriority = 0, .NVIC_IRQChannelCmd = ENABLE, }, }, .rx = { .gpio = GPIOC, .init = { .GPIO_Pin = GPIO_Pin_11, .GPIO_Speed = GPIO_Speed_2MHz, .GPIO_Mode = GPIO_Mode_IPU, }, }, .tx = { .gpio = GPIOC, .init = { .GPIO_Pin = GPIO_Pin_10, .GPIO_Speed = GPIO_Speed_2MHz, .GPIO_Mode = GPIO_Mode_AF_PP, }, }, }; #ifdef PIOS_COM_AUX /* * AUX USART */ void PIOS_USART_aux_irq_handler(void); void USART1_IRQHandler() __attribute__ ((alias ("PIOS_USART_aux_irq_handler"))); const struct pios_usart_cfg pios_usart_aux_cfg = { .regs = USART1, .init = { #if defined (PIOS_COM_AUX_BAUDRATE) .USART_BaudRate = PIOS_COM_AUX_BAUDRATE, #else .USART_BaudRate = 57600, #endif .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 = { .handler = PIOS_USART_aux_irq_handler, .init = { .NVIC_IRQChannel = USART1_IRQn, .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH, .NVIC_IRQChannelSubPriority = 0, .NVIC_IRQChannelCmd = ENABLE, }, }, .remap = GPIO_Remap_USART1, .rx = { .gpio = GPIOB, .init = { .GPIO_Pin = GPIO_Pin_7, .GPIO_Speed = GPIO_Speed_2MHz, .GPIO_Mode = GPIO_Mode_IPU, }, }, .tx = { .gpio = GPIOB, .init = { .GPIO_Pin = GPIO_Pin_6, .GPIO_Speed = GPIO_Speed_2MHz, .GPIO_Mode = GPIO_Mode_AF_PP, }, }, }; #endif #ifdef PIOS_COM_SPEKTRUM /* * SPEKTRUM USART */ void PIOS_USART_spektrum_irq_handler(void); void USART1_IRQHandler() __attribute__ ((alias ("PIOS_USART_spektrum_irq_handler"))); const struct pios_usart_cfg pios_usart_spektrum_cfg = { .regs = USART1, .init = { #if defined (PIOS_COM_SPEKTRUM_BAUDRATE) .USART_BaudRate = PIOS_COM_SPEKTRUM_BAUDRATE, #else .USART_BaudRate = 115200, #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, }, .irq = { .handler = PIOS_USART_spektrum_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_IN_FLOATING, }, }, }; #endif /* * Board specific number of devices. */ struct pios_usart_dev pios_usart_devs[] = { #define PIOS_USART_TELEM 0 { .cfg = &pios_usart_telem_cfg, }, #define PIOS_USART_GPS 1 { .cfg = &pios_usart_gps_cfg, }, #ifdef PIOS_COM_AUX #define PIOS_USART_AUX 2 { .cfg = &pios_usart_aux_cfg, }, #endif #ifdef PIOS_COM_SPEKTRUM #define PIOS_USART_AUX 2 { .cfg = &pios_usart_spektrum_cfg, }, #endif }; uint8_t pios_usart_num_devices = NELEMENTS(pios_usart_devs); void PIOS_USART_telem_irq_handler(void) { PIOS_USART_IRQ_Handler(PIOS_USART_TELEM); } void PIOS_USART_gps_irq_handler(void) { PIOS_USART_IRQ_Handler(PIOS_USART_GPS); } #ifdef PIOS_COM_AUX void PIOS_USART_aux_irq_handler(void) { PIOS_USART_IRQ_Handler(PIOS_USART_AUX); } #endif #ifdef PIOS_COM_SPEKTRUM void PIOS_USART_spektrum_irq_handler(void) { SPEKTRUM_IRQHandler(); } #endif /* * COM devices */ /* * Board specific number of devices. */ extern const struct pios_com_driver pios_usart_com_driver; extern const struct pios_com_driver pios_usb_com_driver; struct pios_com_dev pios_com_devs[] = { { .id = PIOS_USART_TELEM, .driver = &pios_usart_com_driver, }, { .id = PIOS_USART_GPS, .driver = &pios_usart_com_driver, }, #if defined(PIOS_INCLUDE_USB_HID) { .id = 0, .driver = &pios_usb_com_driver, }, #endif #ifdef PIOS_COM_AUX { .id = PIOS_USART_AUX, .driver = &pios_usart_com_driver, }, #endif #ifdef PIOS_COM_SPEKTRUM { .id = PIOS_USART_AUX, .driver = &pios_usart_com_driver, }, #endif }; const uint8_t pios_com_num_devices = NELEMENTS(pios_com_devs); /* * I2C Adapters */ void PIOS_I2C_main_adapter_ev_irq_handler(void); void PIOS_I2C_main_adapter_er_irq_handler(void); void I2C2_EV_IRQHandler() __attribute__ ((alias ("PIOS_I2C_main_adapter_ev_irq_handler"))); void I2C2_ER_IRQHandler() __attribute__ ((alias ("PIOS_I2C_main_adapter_er_irq_handler"))); const struct pios_i2c_adapter_cfg pios_i2c_main_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 = { .handler = PIOS_I2C_main_adapter_ev_irq_handler, .flags = 0, /* FIXME: check this */ .init = { .NVIC_IRQChannel = I2C2_EV_IRQn, .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST, .NVIC_IRQChannelSubPriority = 0, .NVIC_IRQChannelCmd = ENABLE, }, }, .error = { .handler = PIOS_I2C_main_adapter_er_irq_handler, .flags = 0, /* FIXME: check this */ .init = { .NVIC_IRQChannel = I2C2_ER_IRQn, .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST, .NVIC_IRQChannelSubPriority = 0, .NVIC_IRQChannelCmd = ENABLE, }, }, }; /* * Board specific number of devices. */ struct pios_i2c_adapter pios_i2c_adapters[] = { { .cfg = &pios_i2c_main_adapter_cfg, }, }; uint8_t pios_i2c_num_adapters = NELEMENTS(pios_i2c_adapters); void PIOS_I2C_main_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_MAIN_ADAPTER); } void PIOS_I2C_main_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_MAIN_ADAPTER); } /** * @} */