/** ****************************************************************************** * @file board_hw_defs.c * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014. * @addtogroup OpenPilotSystem OpenPilot System * @{ * @addtogroup OpenPilotCore OpenPilot Core * @{ * @brief Defines board specific static initializers for hardware for the GPS 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_GPSP 1 /* * GPS Platinum board. * pins allocation: * port | Pins * -------------|------------- * GPS I2C | PB7 SDA * | PB6 SCL * --------------------------- * Led HB | PB4 * --------------------------- * Mag/Flash SPI| PA4 MAG SS * | PA5 SCK * | PA6 MISO * | PA7 MOSI * | PB1 FLASH SS * | PB0 Mag Int *---------------------------- * Main Port | PA9 TX * | PA10 RX *---------------------------- */ #if defined(PIOS_INCLUDE_LED) #include static const struct pios_gpio pios_leds_gpsp[] = { // PB4 [PIOS_LED_HEARTBEAT] = { .pin = { .gpio = GPIOB, .init = { .GPIO_Pin = GPIO_Pin_4, .GPIO_Mode = GPIO_Mode_OUT, .GPIO_OType = GPIO_OType_OD, .GPIO_Speed = GPIO_Speed_Level_1, }, }, .active_low = false }, }; static const struct pios_gpio_cfg pios_led_cfg_gpsp = { .gpios = pios_leds_gpsp, .num_gpios = NELEMENTS(pios_leds_gpsp), }; const struct pios_gpio_cfg *PIOS_BOARD_HW_DEFS_GetLedCfg(__attribute__((unused)) uint32_t board_revision) { return &pios_led_cfg_gpsp; } #endif /* PIOS_INCLUDE_LED */ #if defined(PIOS_INCLUDE_SPI) #include void PIOS_SPI_mag_flash_irq_handler(void); void DMA1_Channel2_3_IRQHandler() __attribute__((alias("PIOS_SPI_mag_flash_irq_handler"))); static uint32_t pios_spi_mag_flash_id; static const struct pios_spi_cfg pios_spi_mag_flash_cfg = { .remap = GPIO_AF_0, .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_8, }, .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_3_IRQn, .NVIC_IRQChannelPriority = PIOS_IRQ_PRIO_MID, .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, }, }, }, .use_crc = false, .sclk = { .gpio = GPIOA, .init = { .GPIO_Pin = GPIO_Pin_5, .GPIO_Speed = GPIO_Speed_10MHz, .GPIO_Mode = GPIO_Mode_AF, .GPIO_OType = GPIO_OType_PP, }, }, .miso = { .gpio = GPIOA, .init = { .GPIO_Pin = GPIO_Pin_6, .GPIO_Speed = GPIO_Speed_10MHz, .GPIO_Mode = GPIO_Mode_AF, .GPIO_OType = GPIO_OType_OD, }, }, .mosi = { .gpio = GPIOA, .init = { .GPIO_Pin = GPIO_Pin_7, .GPIO_Speed = GPIO_Speed_10MHz, .GPIO_Mode = GPIO_Mode_AF, .GPIO_OType = GPIO_OType_PP, }, }, .slave_count = 2, .ssel = { { .gpio = GPIOA, .init = { .GPIO_Pin = GPIO_Pin_4, .GPIO_Speed = GPIO_Speed_10MHz, .GPIO_Mode = GPIO_Mode_OUT, .GPIO_OType = GPIO_OType_PP, } }, { .gpio = GPIOB, .init = { .GPIO_Pin = GPIO_Pin_1, .GPIO_Speed = GPIO_Speed_10MHz, .GPIO_Mode = GPIO_Mode_OUT, .GPIO_OType = GPIO_OType_PP, } } }, }; void PIOS_SPI_mag_flash_irq_handler(void) { /* Call into the generic code to handle the IRQ for this specific device */ PIOS_SPI_IRQ_Handler(pios_spi_mag_flash_id); } #ifdef PIOS_INCLUDE_FLASH #include "pios_flash_jedec_priv.h" #include "pios_flash.h" #endif /* PIOS_INCLUDE_FLASH */ #if defined(PIOS_INCLUDE_HMC5X83) #include "pios_hmc5x83.h" pios_hmc5x83_dev_t onboard_mag; #ifdef PIOS_HMC5X83_HAS_GPIOS bool pios_board_mag_handler() { return PIOS_HMC5x83_IRQHandler(onboard_mag); } static const struct pios_exti_cfg pios_exti_mag_cfg __exti_config = { .vector = pios_board_mag_handler, .line = EXTI_Line0, .pin = { .gpio = GPIOB, .init = { .GPIO_Pin = GPIO_Pin_0, .GPIO_Speed = GPIO_Speed_Level_3, .GPIO_Mode = GPIO_Mode_IN, .GPIO_OType = GPIO_OType_OD, .GPIO_PuPd = GPIO_PuPd_NOPULL, }, }, .irq = { .init = { .NVIC_IRQChannel = EXTI0_1_IRQn, .NVIC_IRQChannelPriority = PIOS_IRQ_PRIO_LOW, .NVIC_IRQChannelCmd = ENABLE, }, }, .exti = { .init = { .EXTI_Line = EXTI_Line0, // matches above GPIO pin .EXTI_Mode = EXTI_Mode_Interrupt, .EXTI_Trigger = EXTI_Trigger_Rising, .EXTI_LineCmd = ENABLE, }, }, }; #endif /* ifdef PIOS_HMC5X83_HAS_GPIOS */ static const struct pios_hmc5x83_cfg pios_mag_cfg = { #ifdef PIOS_HMC5X83_HAS_GPIOS .exti_cfg = &pios_exti_mag_cfg, #endif .M_ODR = PIOS_HMC5x83_ODR_30, .Meas_Conf = PIOS_HMC5x83_MEASCONF_NORMAL, .Gain = PIOS_HMC5x83_GAIN_1_3, .Mode = PIOS_HMC5x83_MODE_CONTINUOUS, .Driver = &PIOS_HMC5x83_SPI_DRIVER, .TempCompensation = true, .Orientation = PIOS_HMC5X83_ORIENTATION_WEST_NORTH_DOWN, }; #endif /* PIOS_INCLUDE_HMC5883 */ #endif /* PIOS_INCLUDE_SPI */ #if defined(PIOS_INCLUDE_USART) #include "pios_usart_priv.h" static const struct pios_usart_cfg pios_usart_generic_main_cfg = { .regs = USART1, .remap = GPIO_AF_1, .init = { .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 = { .init = { .NVIC_IRQChannel = USART1_IRQn, .NVIC_IRQChannelPriority = PIOS_IRQ_PRIO_MID, .NVIC_IRQChannelCmd = ENABLE, }, }, .rx = { .gpio = GPIOA, .init = { .GPIO_Pin = GPIO_Pin_10, .GPIO_Speed = GPIO_Speed_2MHz, .GPIO_OType = GPIO_OType_OD, .GPIO_Mode = GPIO_Mode_AF, }, }, .tx = { .gpio = GPIOA, .init = { .GPIO_Pin = GPIO_Pin_9, .GPIO_Speed = GPIO_Speed_2MHz, .GPIO_OType = GPIO_OType_PP, .GPIO_Mode = GPIO_Mode_AF, }, }, }; #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_LSI, .prescaler = 100, .irq = { .init = { .NVIC_IRQChannel = RTC_IRQn, .NVIC_IRQChannelPriority = PIOS_IRQ_PRIO_MID, .NVIC_IRQChannelCmd = ENABLE, }, }, }; void PIOS_RTC_IRQ_Handler(void) { PIOS_RTC_irq_handler(); } #endif /* if defined(PIOS_INCLUDE_RTC) */ #if defined(PIOS_INCLUDE_I2C) #include /* * I2C Adapters */ void PIOS_I2C_gps_irq_handler(void); void I2C1_IRQHandler() __attribute__((alias("PIOS_I2C_gps_irq_handler"))); static const struct pios_i2c_adapter_cfg pios_i2c_gps_cfg = { .remapSDA = GPIO_AF_1, .remapSCL = GPIO_AF_1, .regs = I2C1, .init = { .I2C_Mode = I2C_Mode_I2C, .I2C_AnalogFilter = I2C_AnalogFilter_Enable, .I2C_DigitalFilter = 0x00, .I2C_OwnAddress1 = 0x00, .I2C_Ack = I2C_Ack_Enable, .I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit, .I2C_Timing = (uint32_t)0x00210507, }, .transfer_timeout_ms = 50, .scl = { .gpio = GPIOB, .init = { .GPIO_Pin = GPIO_Pin_6, .GPIO_Speed = GPIO_Speed_2MHz, .GPIO_OType = GPIO_OType_OD, .GPIO_PuPd = GPIO_PuPd_NOPULL, .GPIO_Mode = GPIO_Mode_AF, }, .pin_source = GPIO_PinSource6, }, .sda = { .gpio = GPIOB, .init = { .GPIO_Pin = GPIO_Pin_7, .GPIO_Speed = GPIO_Speed_2MHz, .GPIO_OType = GPIO_OType_OD, .GPIO_PuPd = GPIO_PuPd_NOPULL, .GPIO_Mode = GPIO_Mode_AF, }, .pin_source = GPIO_PinSource7, }, .event = { .flags = 0, .init = { .NVIC_IRQChannel = I2C1_IRQn, .NVIC_IRQChannelPriority = PIOS_IRQ_PRIO_HIGH, .NVIC_IRQChannelCmd = ENABLE, }, }, .error = { .flags = 0, .init = { .NVIC_IRQChannel = I2C1_IRQn, .NVIC_IRQChannelPriority = PIOS_IRQ_PRIO_HIGH, .NVIC_IRQChannelCmd = ENABLE, }, }, }; uint32_t pios_i2c_gps_id; void PIOS_I2C_gps_irq_handler(void) { /* Call into the generic code to handle the IRQ for this specific device */ PIOS_I2C_IRQ_Handler(pios_i2c_gps_id); } #endif /* PIOS_INCLUDE_I2C */ #if defined(PIOS_INCLUDE_COM_MSG) #include #endif /* PIOS_INCLUDE_COM_MSG */