/** ****************************************************************************** * @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 //#define I2C_DEBUG_PIN 0 //#define USART_GPS_DEBUG_PIN 1 #if defined(PIOS_INCLUDE_SPI) #include /* 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 = SPI_BaudRatePrescaler_256, /* 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_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, }, }, }, .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 = SPI_BaudRatePrescaler_16, }, .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_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, }, }, }, .ssel = { .gpio = GPIOB, .init = { .GPIO_Pin = GPIO_Pin_12, .GPIO_Speed = GPIO_Speed_10MHz, .GPIO_Mode = GPIO_Mode_Out_PP, }, }, .sclk = { .gpio = GPIOB, .init = { .GPIO_Pin = GPIO_Pin_13, .GPIO_Speed = GPIO_Speed_10MHz, .GPIO_Mode = GPIO_Mode_AF_PP, }, }, .miso = { .gpio = GPIOB, .init = { .GPIO_Pin = GPIO_Pin_14, .GPIO_Speed = GPIO_Speed_10MHz, .GPIO_Mode = GPIO_Mode_IN_FLOATING, }, }, .mosi = { .gpio = GPIOB, .init = { .GPIO_Pin = GPIO_Pin_15, .GPIO_Speed = GPIO_Speed_10MHz, .GPIO_Mode = GPIO_Mode_AF_PP, }, }, }; static uint32_t pios_spi_sdcard_id; 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_spi_sdcard_id); } uint32_t pios_spi_ahrs_id; 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_spi_ahrs_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 const struct pios_adc_cfg pios_adc_cfg = { .dma = { .ahb_clk = RCC_AHBPeriph_DMA1, .irq = { .handler = PIOS_ADC_DMA_Handler, .flags = (DMA1_FLAG_TC1 | DMA1_FLAG_TE1 | DMA1_FLAG_HT1 | DMA1_FLAG_GL1), .init = { .NVIC_IRQChannel = DMA1_Channel1_IRQn, .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW, .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_Low, .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(); } #if defined(PIOS_INCLUDE_USART) #include "pios_usart_priv.h" /* * 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_MID, .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_MID, .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_MID, .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, }, }, }; static uint32_t pios_usart_spektrum_id; void PIOS_USART_spektrum_irq_handler(void) { SPEKTRUM_IRQHandler(pios_usart_spektrum_id); } #include void TIM6_IRQHandler(); void TIM6_IRQHandler() __attribute__ ((alias ("PIOS_TIM6_irq_handler"))); const struct pios_spektrum_cfg pios_spektrum_cfg = { .pios_usart_spektrum_cfg = &pios_usart_spektrum_cfg, .tim_base_init = { .TIM_Prescaler = (PIOS_MASTER_CLOCK / 1000000) - 1, /* For 1 uS accuracy */ .TIM_ClockDivision = TIM_CKD_DIV1, .TIM_CounterMode = TIM_CounterMode_Up, .TIM_Period = ((1000000 / 120) - 1), //11ms-10*16b/115200bps, atleast one interrupt between frames .TIM_RepetitionCounter = 0x0000, }, .gpio_init = { //used for bind feature .GPIO_Mode = GPIO_Mode_Out_PP, .GPIO_Speed = GPIO_Speed_2MHz, }, .remap = 0, .irq = { .handler = TIM6_IRQHandler, .init = { .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, .NVIC_IRQChannelSubPriority = 0, .NVIC_IRQChannelCmd = ENABLE, }, }, .timer = TIM6, .port = GPIOA, .ccr = TIM_IT_Update, .pin = GPIO_Pin_10, }; void PIOS_TIM6_irq_handler() { PIOS_SPEKTRUM_irq_handler(); } #endif /* PIOS_COM_SPEKTRUM */ static uint32_t pios_usart_telem_rf_id; void PIOS_USART_telem_irq_handler(void) { PIOS_USART_IRQ_Handler(pios_usart_telem_rf_id); } static uint32_t pios_usart_gps_id; void PIOS_USART_gps_irq_handler(void) { #ifdef USART_GPS_DEBUG_PIN PIOS_DEBUG_PinHigh(USART_GPS_DEBUG_PIN); #endif PIOS_USART_IRQ_Handler(pios_usart_gps_id); #ifdef USART_GPS_DEBUG_PIN PIOS_DEBUG_PinLow(USART_GPS_DEBUG_PIN); #endif } #ifdef PIOS_COM_AUX static uint32_t pios_usart_aux_id; void PIOS_USART_aux_irq_handler(void) { PIOS_USART_IRQ_Handler(pios_usart_aux_id); } #endif #endif /* PIOS_INCLUDE_USART */ #if defined(PIOS_INCLUDE_COM) #include "pios_com_priv.h" #endif /* PIOS_INCLUDE_COM */ /** * Pios servo configuration structures */ #include const struct pios_servo_channel pios_servo_channels[] = { { .timer = TIM4, .port = GPIOB, .channel = TIM_Channel_1, .pin = GPIO_Pin_6, }, { .timer = TIM4, .port = GPIOB, .channel = TIM_Channel_2, .pin = GPIO_Pin_7, }, { .timer = TIM4, .port = GPIOB, .channel = TIM_Channel_3, .pin = GPIO_Pin_8, }, { .timer = TIM4, .port = GPIOB, .channel = TIM_Channel_4, .pin = GPIO_Pin_9, }, { .timer = TIM8, .port = GPIOC, .channel = TIM_Channel_1, .pin = GPIO_Pin_6, }, { .timer = TIM8, .port = GPIOC, .channel = TIM_Channel_2, .pin = GPIO_Pin_7, }, { .timer = TIM8, .port = GPIOC, .channel = TIM_Channel_3, .pin = GPIO_Pin_8, }, { .timer = TIM8, .port = GPIOC, .channel = TIM_Channel_4, .pin = GPIO_Pin_9, }, }; const struct pios_servo_cfg pios_servo_cfg = { .tim_base_init = { .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, }, .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, }, .gpio_init = { .GPIO_Mode = GPIO_Mode_AF_PP, .GPIO_Speed = GPIO_Speed_2MHz, }, .remap = 0, .channels = pios_servo_channels, .num_channels = NELEMENTS(pios_servo_channels), }; /* * PWM Inputs */ #if defined(PIOS_INCLUDE_PWM) #include const struct pios_pwm_channel pios_pwm_channels[] = { { .timer = TIM1, .port = GPIOA, .ccr = TIM_IT_CC2, .channel = TIM_Channel_2, .pin = GPIO_Pin_9, }, { .timer = TIM1, .port = GPIOA, .ccr = TIM_IT_CC3, .channel = TIM_Channel_3, .pin = GPIO_Pin_10, }, { .timer = TIM5, .port = GPIOA, .ccr = TIM_IT_CC1, .channel = TIM_Channel_1, .pin = GPIO_Pin_0 }, { .timer = TIM1, .port = GPIOA, .ccr = TIM_IT_CC1, .channel = TIM_Channel_1, .pin = GPIO_Pin_8, }, { .timer = TIM3, .port = GPIOB, .ccr = TIM_IT_CC4, .channel = TIM_Channel_4, .pin = GPIO_Pin_1, }, { .timer = TIM3, .port = GPIOB, .ccr = TIM_IT_CC3, .channel = TIM_Channel_3, .pin = GPIO_Pin_0, }, { .timer = TIM3, .port = GPIOB, .ccr = TIM_IT_CC1, .channel = TIM_Channel_1, .pin = GPIO_Pin_4, }, { .timer = TIM3, .port = GPIOB, .ccr = TIM_IT_CC2, .channel = TIM_Channel_2, .pin = GPIO_Pin_5, }, }; void TIM1_CC_IRQHandler(); void TIM3_IRQHandler(); void TIM5_IRQHandler(); void TIM1_CC_IRQHandler() __attribute__ ((alias ("PIOS_TIM1_CC_irq_handler"))); void TIM3_IRQHandler() __attribute__ ((alias ("PIOS_TIM3_irq_handler"))); void TIM5_IRQHandler() __attribute__ ((alias ("PIOS_TIM5_irq_handler"))); const struct pios_pwm_cfg pios_pwm_cfg = { .tim_base_init = { .TIM_Prescaler = (PIOS_MASTER_CLOCK / 1000000) - 1, .TIM_ClockDivision = TIM_CKD_DIV1, .TIM_CounterMode = TIM_CounterMode_Up, .TIM_Period = 0xFFFF, .TIM_RepetitionCounter = 0x0000, }, .tim_ic_init = { .TIM_ICPolarity = TIM_ICPolarity_Rising, .TIM_ICSelection = TIM_ICSelection_DirectTI, .TIM_ICPrescaler = TIM_ICPSC_DIV1, .TIM_ICFilter = 0x0, }, .gpio_init = { .GPIO_Mode = GPIO_Mode_IPD, .GPIO_Speed = GPIO_Speed_2MHz, }, .remap = GPIO_PartialRemap_TIM3, .irq = { .handler = TIM1_CC_IRQHandler, .init = { .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, .NVIC_IRQChannelSubPriority = 0, .NVIC_IRQChannelCmd = ENABLE, }, }, .channels = pios_pwm_channels, .num_channels = NELEMENTS(pios_pwm_channels), }; void PIOS_TIM1_CC_irq_handler() { PIOS_PWM_irq_handler(TIM1); } void PIOS_TIM3_irq_handler() { PIOS_PWM_irq_handler(TIM3); } void PIOS_TIM5_irq_handler() { PIOS_PWM_irq_handler(TIM5); } #endif /* * PPM Input */ #if defined(PIOS_INCLUDE_PPM) #include void TIM6_IRQHandler(); void TIM6_IRQHandler() __attribute__ ((alias ("PIOS_TIM6_irq_handler"))); const struct pios_ppmsv_cfg pios_ppmsv_cfg = { .tim_base_init = { .TIM_Prescaler = (PIOS_MASTER_CLOCK / 1000000) - 1, /* For 1 uS accuracy */ .TIM_ClockDivision = TIM_CKD_DIV1, .TIM_CounterMode = TIM_CounterMode_Up, .TIM_Period = ((1000000 / 25) - 1), /* 25 Hz */ .TIM_RepetitionCounter = 0x0000, }, .irq = { .handler = TIM6_IRQHandler, .init = { .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, .NVIC_IRQChannelSubPriority = 0, .NVIC_IRQChannelCmd = ENABLE, }, }, .timer = TIM6, .ccr = TIM_IT_Update, }; void PIOS_TIM6_irq_handler() { PIOS_PPMSV_irq_handler(); } void TIM1_CC_IRQHandler(); void TIM1_CC_IRQHandler() __attribute__ ((alias ("PIOS_TIM1_CC_irq_handler"))); const struct pios_ppm_cfg pios_ppm_cfg = { .tim_base_init = { .TIM_Prescaler = (PIOS_MASTER_CLOCK / 1000000) - 1, /* For 1 uS accuracy */ .TIM_ClockDivision = TIM_CKD_DIV1, .TIM_CounterMode = TIM_CounterMode_Up, .TIM_Period = 0xFFFF, .TIM_RepetitionCounter = 0x0000, }, .tim_ic_init = { .TIM_ICPolarity = TIM_ICPolarity_Rising, .TIM_ICSelection = TIM_ICSelection_DirectTI, .TIM_ICPrescaler = TIM_ICPSC_DIV1, .TIM_ICFilter = 0x0, .TIM_Channel = TIM_Channel_2, }, .gpio_init = { .GPIO_Mode = GPIO_Mode_IPD, .GPIO_Speed = GPIO_Speed_2MHz, .GPIO_Pin = GPIO_Pin_9, }, .remap = 0, .irq = { .handler = TIM1_CC_IRQHandler, .init = { .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, .NVIC_IRQChannelSubPriority = 0, .NVIC_IRQChannelCmd = ENABLE, .NVIC_IRQChannel = TIM1_CC_IRQn, }, }, .timer = TIM1, .port = GPIOA, .ccr = TIM_IT_CC2, }; void PIOS_TIM1_CC_irq_handler() { PIOS_PPM_irq_handler(); } #endif //PPM #if defined(PIOS_INCLUDE_I2C) #include /* * 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, }, }, }; uint32_t pios_i2c_main_adapter_id; void PIOS_I2C_main_adapter_ev_irq_handler(void) { #ifdef I2C_DEBUG_PIN PIOS_DEBUG_PinHigh(I2C_DEBUG_PIN); #endif /* Call into the generic code to handle the IRQ for this specific device */ PIOS_I2C_EV_IRQ_Handler(pios_i2c_main_adapter_id); #ifdef I2C_DEBUG_PIN PIOS_DEBUG_PinLow(I2C_DEBUG_PIN); #endif } 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_id); } #endif /* PIOS_INCLUDE_I2C */ #if defined(PIOS_ENABLE_DEBUG_PINS) static const struct stm32_gpio pios_debug_pins[] = { #define PIOS_DEBUG_PIN_SERVO_1 0 { .gpio = GPIOB, .init = { .GPIO_Pin = GPIO_Pin_6, .GPIO_Speed = GPIO_Speed_50MHz, .GPIO_Mode = GPIO_Mode_Out_PP, }, }, #define PIOS_DEBUG_PIN_SERVO_2 1 { .gpio = GPIOB, .init = { .GPIO_Pin = GPIO_Pin_7, .GPIO_Speed = GPIO_Speed_50MHz, .GPIO_Mode = GPIO_Mode_Out_PP, }, }, #define PIOS_DEBUG_PIN_SERVO_3 2 { .gpio = GPIOB, .init = { .GPIO_Pin = GPIO_Pin_8, .GPIO_Speed = GPIO_Speed_50MHz, .GPIO_Mode = GPIO_Mode_Out_PP, }, }, #define PIOS_DEBUG_PIN_SERVO_4 3 { .gpio = GPIOB, .init = { .GPIO_Pin = GPIO_Pin_9, .GPIO_Speed = GPIO_Speed_50MHz, .GPIO_Mode = GPIO_Mode_Out_PP, }, }, #define PIOS_DEBUG_PIN_SERVO_5 4 { .gpio = GPIOC, .init = { .GPIO_Pin = GPIO_Pin_6, .GPIO_Speed = GPIO_Speed_50MHz, .GPIO_Mode = GPIO_Mode_Out_PP, }, }, #define PIOS_DEBUG_PIN_SERVO_6 5 { .gpio = GPIOC, .init = { .GPIO_Pin = GPIO_Pin_7, .GPIO_Speed = GPIO_Speed_50MHz, .GPIO_Mode = GPIO_Mode_Out_PP, }, }, #define PIOS_DEBUG_PIN_SERVO_7 6 { .gpio = GPIOC, .init = { .GPIO_Pin = GPIO_Pin_8, .GPIO_Speed = GPIO_Speed_50MHz, .GPIO_Mode = GPIO_Mode_Out_PP, }, }, #define PIOS_DEBUG_PIN_SERVO_8 7 { .gpio = GPIOC, .init = { .GPIO_Pin = GPIO_Pin_9, .GPIO_Speed = GPIO_Speed_50MHz, .GPIO_Mode = GPIO_Mode_Out_PP, }, }, }; #endif /* PIOS_ENABLE_DEBUG_PINS */ extern const struct pios_com_driver pios_usb_com_driver; uint32_t pios_com_telem_rf_id; uint32_t pios_com_telem_usb_id; uint32_t pios_com_gps_id; uint32_t pios_com_aux_id; uint32_t pios_com_spektrum_id; #include "ahrs_spi_comm.h" /** * PIOS_Board_Init() * initializes all the core subsystems on this specific hardware * called from System/openpilot.c */ void PIOS_Board_Init(void) { /* Remap AFIO pin */ //GPIO_PinRemapConfig( GPIO_Remap_SWJ_NoJTRST, ENABLE); /* Debug services */ PIOS_DEBUG_Init(); /* Delay system */ PIOS_DELAY_Init(); #if defined(PIOS_INCLUDE_SPI) /* Set up the SPI interface to the SD card */ if (PIOS_SPI_Init(&pios_spi_sdcard_id, &pios_spi_sdcard_cfg)) { PIOS_DEBUG_Assert(0); } /* Enable and mount the SDCard */ PIOS_SDCARD_Init(pios_spi_sdcard_id); PIOS_SDCARD_MountFS(0); #endif /* PIOS_INCLUDE_SPI */ #if defined(PIOS_INCLUDE_SPEKTRUM) /* SPEKTRUM init must come before comms */ PIOS_RTC_Init(); // Spektrum uses RTC to check for frame failures PIOS_SPEKTRUM_Init(); if (PIOS_USART_Init(&pios_usart_spektrum_id, &pios_usart_spektrum_cfg)) { PIOS_DEBUG_Assert(0); } if (PIOS_COM_Init(&pios_com_spektrum_id, &pios_usart_com_driver, pios_usart_spektrum_id)) { PIOS_DEBUG_Assert(0); } #endif /* Initialize UAVObject libraries */ EventDispatcherInitialize(); UAVObjInitialize(); UAVObjectsInitializeAll(); /* Initialize the alarms library */ AlarmsInitialize(); /* Initialize the task monitor library */ TaskMonitorInitialize(); /* Prepare the AHRS Comms upper layer protocol */ AhrsInitComms(); /* Set up the SPI interface to the AHRS */ if (PIOS_SPI_Init(&pios_spi_ahrs_id, &pios_spi_ahrs_cfg)) { PIOS_DEBUG_Assert(0); } /* Bind the AHRS comms layer to the AHRS SPI link */ AhrsConnect(pios_spi_ahrs_id); /* Initialize the PiOS library */ #if defined(PIOS_INCLUDE_COM) if (PIOS_USART_Init(&pios_usart_telem_rf_id, &pios_usart_telem_cfg)) { PIOS_DEBUG_Assert(0); } if (PIOS_COM_Init(&pios_com_telem_rf_id, &pios_usart_com_driver, pios_usart_telem_rf_id)) { PIOS_DEBUG_Assert(0); } if (PIOS_USART_Init(&pios_usart_gps_id, &pios_usart_gps_cfg)) { PIOS_DEBUG_Assert(0); } if (PIOS_COM_Init(&pios_com_gps_id, &pios_usart_com_driver, pios_usart_gps_id)) { PIOS_DEBUG_Assert(0); } #endif 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); #if defined(PIOS_INCLUDE_COM) if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_com_driver, 0)) { PIOS_DEBUG_Assert(0); } #endif /* PIOS_INCLUDE_COM */ #endif /* PIOS_INCLUDE_USB_HID */ #if defined(PIOS_INCLUDE_I2C) if (PIOS_I2C_Init(&pios_i2c_main_adapter_id, &pios_i2c_main_adapter_cfg)) { PIOS_DEBUG_Assert(0); } #endif /* PIOS_INCLUDE_I2C */ PIOS_IAP_Init(); PIOS_WDG_Init(); } /** * @} */