/** ****************************************************************************** * @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) 2014. * @addtogroup OpenPilotSystem OpenPilot System * @{ * @addtogroup OpenPilotCore OpenPilot Core * @{ * @brief Defines board specific static initializers for hardware for the Revolution 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 */ #include /* I/O mapping * I/O | PIN | Channel | Alternate function * I1 | PB10 | TIM2_CH3 | x * i2 | PB1 | TIM3_CH4 | ADC1_9 * I3 | PB0 | TIM3_CH3 | ADC1_8 * I4 | PA7 | TIM3_CH2 | SPI1_MOSI/ADC1_7 * I5 | PA6 | TIM3_CH1 | SPI1_MISO/ADC1_6 * I6 | PA5 | TIM2_CH1 | SPI1_SCK/ADC1_5 *------------------------------------ * o1 | PA10 | TIM1_CH3 | USART1_RX * o2 | PB3 | TIM2_CH2 | I2C2_SDA, * o3 | PB8 | TIM10_CH1 * o4 | PB9 | TIM11_CH1 * o5 | PA0 | TIM5_CH1 | ADC1_0 * o6 | PA1 | TIM5_CH2 | ADC1_1 */ #define MAIN_USART_REGS USART2 #define MAIN_USART_REMAP GPIO_AF_USART2 #define MAIN_USART_IRQ USART2_IRQn #define MAIN_USART_RX_GPIO GPIOA #define MAIN_USART_RX_PIN GPIO_Pin_3 #define MAIN_USART_TX_GPIO GPIOA #define MAIN_USART_TX_PIN GPIO_Pin_2 // Inverter for SBUS handling #define MAIN_USART_INVERTER_GPIO GPIOC #define MAIN_USART_INVERTER_PIN GPIO_Pin_15 #define MAIN_USART_INVERTER_ENABLE Bit_SET #define MAIN_USART_INVERTER_DISABLE Bit_RESET #define FLEXI_USART_REGS USART1 #define FLEXI_USART_REMAP GPIO_AF_USART1 #define FLEXI_USART_IRQ USART1_IRQn #define FLEXI_USART_RX_GPIO GPIOB #define FLEXI_USART_RX_PIN GPIO_Pin_7 #define FLEXI_USART_TX_GPIO GPIOB #define FLEXI_USART_TX_PIN GPIO_Pin_6 // ReceiverPort pin 3 #define FLEXI_USART_DTR_GPIO GPIOB #define FLEXI_USART_DTR_PIN GPIO_Pin_10 #if defined(PIOS_INCLUDE_LED) #include static const struct pios_gpio pios_leds[] = { [PIOS_LED_HEARTBEAT] = { .pin = { .gpio = GPIOC, .init = { .GPIO_Pin = GPIO_Pin_14, .GPIO_Speed = GPIO_Speed_50MHz, .GPIO_Mode = GPIO_Mode_OUT, .GPIO_OType = GPIO_OType_PP, .GPIO_PuPd = GPIO_PuPd_UP }, }, .active_low = true }, [PIOS_LED_ALARM] = { .pin = { .gpio = GPIOC, .init = { .GPIO_Pin = GPIO_Pin_13, .GPIO_Speed = GPIO_Speed_50MHz, .GPIO_Mode = GPIO_Mode_OUT, .GPIO_OType = GPIO_OType_PP, .GPIO_PuPd = GPIO_PuPd_UP }, }, .active_low = true }, }; 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_SPI) #include /* * SPI1 Interface * Used for MPU6000 gyro and accelerometer */ void PIOS_SPI_gyro_irq_handler(void); void DMA1_Stream3_IRQHandler(void) __attribute__((alias("PIOS_SPI_gyro_irq_handler"))); void DMA1_Stream4_IRQHandler(void) __attribute__((alias("PIOS_SPI_gyro_irq_handler"))); static const struct pios_spi_cfg pios_spi_gyro_cfg = { .regs = SPI2, .remap = GPIO_AF_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 = false, .dma = { .irq = { .flags = (DMA_IT_TCIF0 | DMA_IT_TEIF0 | DMA_IT_HTIF0), .init = { .NVIC_IRQChannel = DMA1_Stream4_IRQn, .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH, .NVIC_IRQChannelSubPriority = 0, .NVIC_IRQChannelCmd = ENABLE, }, }, .rx = { .channel = DMA1_Stream3, .init = { .DMA_Channel = DMA_Channel_0, .DMA_PeripheralBaseAddr = (uint32_t)&(SPI2->DR), .DMA_DIR = DMA_DIR_PeripheralToMemory, .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_FIFOMode = DMA_FIFOMode_Disable, /* .DMA_FIFOThreshold */ .DMA_MemoryBurst = DMA_MemoryBurst_Single, .DMA_PeripheralBurst = DMA_PeripheralBurst_Single, }, }, .tx = { .channel = DMA1_Stream4, .init = { .DMA_Channel = DMA_Channel_0, .DMA_PeripheralBaseAddr = (uint32_t)&(SPI2->DR), .DMA_DIR = DMA_DIR_MemoryToPeripheral, .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_FIFOMode = DMA_FIFOMode_Disable, /* .DMA_FIFOThreshold */ .DMA_MemoryBurst = DMA_MemoryBurst_Single, .DMA_PeripheralBurst = DMA_PeripheralBurst_Single, }, }, }, .sclk = { .gpio = GPIOB, .init = { .GPIO_Pin = GPIO_Pin_13, .GPIO_Speed = GPIO_Speed_100MHz, .GPIO_Mode = GPIO_Mode_AF, .GPIO_OType = GPIO_OType_PP, .GPIO_PuPd = GPIO_PuPd_UP }, }, .miso = { .gpio = GPIOB, .init = { .GPIO_Pin = GPIO_Pin_14, .GPIO_Speed = GPIO_Speed_50MHz, .GPIO_Mode = GPIO_Mode_AF, .GPIO_OType = GPIO_OType_PP, .GPIO_PuPd = GPIO_PuPd_UP }, }, .mosi = { .gpio = GPIOB, .init = { .GPIO_Pin = GPIO_Pin_15, .GPIO_Speed = GPIO_Speed_50MHz, .GPIO_Mode = GPIO_Mode_AF, .GPIO_OType = GPIO_OType_PP, .GPIO_PuPd = GPIO_PuPd_UP }, }, .slave_count = 1, .ssel = { { .gpio = GPIOB, .init = { .GPIO_Pin = GPIO_Pin_12, .GPIO_Speed = GPIO_Speed_50MHz, .GPIO_Mode = GPIO_Mode_OUT, .GPIO_OType = GPIO_OType_PP, .GPIO_PuPd = GPIO_PuPd_UP } } } }; static uint32_t pios_spi_gyro_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_id); } #endif /* PIOS_INCLUDE_SPI */ #include /* * MAIN USART */ 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 = MAIN_USART_REGS, .remap = MAIN_USART_REMAP, .rx = { .gpio = MAIN_USART_RX_GPIO, .init = { .GPIO_Pin = MAIN_USART_RX_PIN, .GPIO_Speed = GPIO_Speed_2MHz, .GPIO_Mode = GPIO_Mode_AF, .GPIO_OType = GPIO_OType_PP, .GPIO_PuPd = GPIO_PuPd_UP }, }, .tx = { .gpio = MAIN_USART_TX_GPIO, .init = { .GPIO_Pin = MAIN_USART_TX_PIN, .GPIO_Speed = GPIO_Speed_2MHz, .GPIO_Mode = GPIO_Mode_AF, .GPIO_OType = GPIO_OType_PP, .GPIO_PuPd = GPIO_PuPd_UP }, }, .ioctl = PIOS_BOARD_USART_Ioctl, }; /* * FLEXI PORT */ static const struct pios_usart_cfg pios_usart_flexi_cfg = { .regs = FLEXI_USART_REGS, .remap = FLEXI_USART_REMAP, .rx = { .gpio = FLEXI_USART_RX_GPIO, .init = { .GPIO_Pin = FLEXI_USART_RX_PIN, .GPIO_Speed = GPIO_Speed_2MHz, .GPIO_Mode = GPIO_Mode_AF, .GPIO_OType = GPIO_OType_PP, .GPIO_PuPd = GPIO_PuPd_UP }, }, .tx = { .gpio = FLEXI_USART_TX_GPIO, .init = { .GPIO_Pin = FLEXI_USART_TX_PIN, .GPIO_Speed = GPIO_Speed_2MHz, .GPIO_Mode = GPIO_Mode_AF, .GPIO_OType = GPIO_OType_PP, .GPIO_PuPd = GPIO_PuPd_UP }, }, // .dtr = { // .gpio = FLEXI_USART_DTR_GPIO, // .init = { // .GPIO_Pin = FLEXI_USART_DTR_PIN, // .GPIO_Speed = GPIO_Speed_25MHz, // .GPIO_Mode = GPIO_Mode_OUT, // .GPIO_OType = GPIO_OType_PP, // }, // }, }; #if defined(PIOS_INCLUDE_COM) #include #endif /* PIOS_INCLUDE_COM */ #if defined(PIOS_INCLUDE_I2C) #include /* * I2C Adapters */ void PIOS_I2C_pressure_adapter_ev_irq_handler(void); void PIOS_I2C_pressure_adapter_er_irq_handler(void); void I2C3_EV_IRQHandler() __attribute__((alias("PIOS_I2C_pressure_adapter_ev_irq_handler"))); void I2C3_ER_IRQHandler() __attribute__((alias("PIOS_I2C_pressure_adapter_er_irq_handler"))); static const struct pios_i2c_adapter_cfg pios_i2c_pressure_adapter_cfg = { .regs = I2C3, .remapSCL = GPIO_AF_I2C3, .remapSDA = GPIO_AF9_I2C3, .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 = GPIOA, .init = { .GPIO_Pin = GPIO_Pin_8, .GPIO_Mode = GPIO_Mode_AF, .GPIO_Speed = GPIO_Speed_50MHz, .GPIO_OType = GPIO_OType_OD, .GPIO_PuPd = GPIO_PuPd_NOPULL, }, }, .sda = { .gpio = GPIOB, .init = { .GPIO_Pin = GPIO_Pin_4, .GPIO_Mode = GPIO_Mode_AF, .GPIO_Speed = GPIO_Speed_50MHz, .GPIO_OType = GPIO_OType_OD, .GPIO_PuPd = GPIO_PuPd_NOPULL, }, }, .event = { .flags = 0, /* FIXME: check this */ .init = { .NVIC_IRQChannel = I2C3_EV_IRQn, .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST, .NVIC_IRQChannelSubPriority = 0, .NVIC_IRQChannelCmd = ENABLE, }, }, .error = { .flags = 0, /* FIXME: check this */ .init = { .NVIC_IRQChannel = I2C3_ER_IRQn, .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST, .NVIC_IRQChannelSubPriority = 0, .NVIC_IRQChannelCmd = ENABLE, }, }, }; uint32_t pios_i2c_pressure_adapter_id; void PIOS_I2C_pressure_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_pressure_adapter_id); } void PIOS_I2C_pressure_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_pressure_adapter_id); } void PIOS_I2C_flexiport_adapter_ev_irq_handler(void); void PIOS_I2C_flexiport_adapter_er_irq_handler(void); void I2C1_EV_IRQHandler() __attribute__((alias("PIOS_I2C_flexiport_adapter_ev_irq_handler"))); void I2C1_ER_IRQHandler() __attribute__((alias("PIOS_I2C_flexiport_adapter_er_irq_handler"))); static const struct pios_i2c_adapter_cfg pios_i2c_flexiport_adapter_cfg = { .regs = I2C1, .remapSCL = GPIO_AF_I2C1, .remapSDA = GPIO_AF_I2C1, .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_6, .GPIO_Mode = GPIO_Mode_AF, .GPIO_Speed = GPIO_Speed_50MHz, .GPIO_OType = GPIO_OType_OD, .GPIO_PuPd = GPIO_PuPd_UP, }, }, .sda = { .gpio = GPIOB, .init = { .GPIO_Pin = GPIO_Pin_7, .GPIO_Mode = GPIO_Mode_AF, .GPIO_Speed = GPIO_Speed_50MHz, .GPIO_OType = GPIO_OType_OD, .GPIO_PuPd = GPIO_PuPd_UP, }, }, .event = { .flags = 0, /* FIXME: check this */ .init = { .NVIC_IRQChannel = I2C1_EV_IRQn, .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST, .NVIC_IRQChannelSubPriority = 0, .NVIC_IRQChannelCmd = ENABLE, }, }, .error = { .flags = 0, /* FIXME: check this */ .init = { .NVIC_IRQChannel = I2C1_ER_IRQn, .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST, .NVIC_IRQChannelSubPriority = 0, .NVIC_IRQChannelCmd = ENABLE, }, }, }; uint32_t pios_i2c_flexiport_adapter_id; void PIOS_I2C_flexiport_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_flexiport_adapter_id); } void PIOS_I2C_flexiport_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_flexiport_adapter_id); } #endif /* PIOS_INCLUDE_I2C */ #if defined(PIOS_INCLUDE_RTC) /* * Realtime Clock (RTC) */ #include void PIOS_RTC_IRQ_Handler(void); void RTC_WKUP_IRQHandler() __attribute__((alias("PIOS_RTC_IRQ_Handler"))); static const struct pios_rtc_cfg pios_rtc_main_cfg = { .clksrc = RCC_RTCCLKSource_HSE_Div8, // Divide 8 Mhz crystal down to 1 // For some reason it's acting like crystal is 16 Mhz. This clock is then divided // by another 16 to give a nominal 62.5 khz clock .prescaler = 100, // Every 100 cycles gives 625 Hz .irq = { .init = { .NVIC_IRQChannel = RTC_WKUP_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) */ #include "pios_tim_priv.h" static const TIM_TimeBaseInitTypeDef tim_2_3_4_5_time_base = { .TIM_Prescaler = (PIOS_PERIPHERAL_APB1_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 TIM_TimeBaseInitTypeDef tim_1_9_10_11_time_base = { .TIM_Prescaler = (PIOS_PERIPHERAL_APB2_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_2_cfg = { .timer = TIM2, .time_base_init = &tim_2_3_4_5_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_2_3_4_5_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_5_cfg = { .timer = TIM5, .time_base_init = &tim_2_3_4_5_time_base, .irq = { .init = { .NVIC_IRQChannel = TIM5_IRQn, .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, .NVIC_IRQChannelSubPriority = 0, .NVIC_IRQChannelCmd = ENABLE, }, }, }; static const struct pios_tim_clock_cfg tim_1_cfg = { .timer = TIM1, .time_base_init = &tim_1_9_10_11_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_9_cfg = { .timer = TIM9, .time_base_init = &tim_1_9_10_11_time_base, .irq = { .init = { .NVIC_IRQChannel = TIM1_BRK_TIM9_IRQn, .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, .NVIC_IRQChannelSubPriority = 0, .NVIC_IRQChannelCmd = ENABLE, }, }, }; static const struct pios_tim_clock_cfg tim_10_cfg = { .timer = TIM10, .time_base_init = &tim_1_9_10_11_time_base, .irq = { .init = { .NVIC_IRQChannel = TIM1_UP_TIM10_IRQn, .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, .NVIC_IRQChannelSubPriority = 0, .NVIC_IRQChannelCmd = ENABLE, }, }, }; static const struct pios_tim_clock_cfg tim_11_cfg = { .timer = TIM11, .time_base_init = &tim_1_9_10_11_time_base, .irq = { .init = { .NVIC_IRQChannel = TIM1_TRG_COM_TIM11_IRQn, .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, .NVIC_IRQChannelSubPriority = 0, .NVIC_IRQChannelCmd = ENABLE, }, }, }; // Set up timers that only have inputs on APB1 // TIM2,3,4,5 static const TIM_TimeBaseInitTypeDef tim_apb1_time_base = { .TIM_Prescaler = (PIOS_PERIPHERAL_APB1_CLOCK / 1000000) - 1, .TIM_ClockDivision = TIM_CKD_DIV1, .TIM_CounterMode = TIM_CounterMode_Up, .TIM_Period = 0xFFFF, .TIM_RepetitionCounter = 0x0000, }; // Set up timers that only have inputs on APB2 // TIM1,9,10,11 static const TIM_TimeBaseInitTypeDef tim_apb2_time_base = { .TIM_Prescaler = (PIOS_PERIPHERAL_APB2_CLOCK / 1000000) - 1, .TIM_ClockDivision = TIM_CKD_DIV1, .TIM_CounterMode = TIM_CounterMode_Up, .TIM_Period = 0xFFFF, .TIM_RepetitionCounter = 0x0000, }; static const struct pios_tim_clock_cfg tim_3_cfg = { .timer = TIM3, .time_base_init = &tim_apb1_time_base, .irq = { .init = { .NVIC_IRQChannel = TIM3_IRQn, .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, .NVIC_IRQChannelSubPriority = 0, .NVIC_IRQChannelCmd = ENABLE, }, }, }; /** * Pios servo configuration structures * I/O | PIN | Channel | Alternate function * I1 | PB10 | TIM2_CH3 | x * i2 | PB1 | TIM3_CH4 | ADC1_9 * I3 | PB0 | TIM3_CH3 | ADC1_8 * I4 | PA7 | TIM3_CH2 | SPI1_MOSI/ADC1_7 * I5 | PA6 | TIM3_CH1 | SPI1_MISO/ADC1_6 * I6 | PA5 | TIM2_CH1 | SPI1_SCK/ADC1_5 *------------------------------------ * o1 | PA10 | TIM1_CH3 | USART1_RX * o2 | PB3 | TIM2_CH2 | I2C2_SDA, * o3 | PB8 | TIM10_CH1 * o4 | PB9 | TIM11_CH1 * o5 | PA0 | TIM5_CH1 | ADC1_0 * o6 | PA1 | TIM5_CH2 | ADC1_1 */ #include #include static const struct pios_tim_channel dummmy_timer = TIM_SERVO_CHANNEL_CONFIG(TIM9, 1, E, 5); // dummy unused timer + gpio. Hack to free tim1 static struct pios_tim_channel pios_tim_servoport_all_pins[] = { // TIMER, CHANNEL, GPIO, PIN TIM_SERVO_CHANNEL_CONFIG(TIM1, 3, A, 10), TIM_SERVO_CHANNEL_CONFIG(TIM2, 2, B, 3), TIM_SERVO_CHANNEL_CONFIG(TIM10, 1, B, 8), TIM_SERVO_CHANNEL_CONFIG(TIM11, 1, B, 9), TIM_SERVO_CHANNEL_CONFIG(TIM5, 1, A, 0), TIM_SERVO_CHANNEL_CONFIG(TIM5, 2, A, 1), // PWM pins on FlexiIO(receiver) port TIM_SERVO_CHANNEL_CONFIG(TIM2, 3, B, 10), TIM_SERVO_CHANNEL_CONFIG(TIM3, 3, B, 0), TIM_SERVO_CHANNEL_CONFIG(TIM3, 2, A, 7), TIM_SERVO_CHANNEL_CONFIG(TIM3, 1, A, 6), TIM_SERVO_CHANNEL_CONFIG(TIM2, 1, A, 5), TIM_SERVO_CHANNEL_CONFIG(TIM3, 4, B, 1), }; #define PIOS_SERVOPORT_ALL_PINS_PWMOUT 6 #define PIOS_SERVOPORT_ALL_PINS_PWMOUT_IN (NELEMENTS(pios_tim_servoport_all_pins)) #define PIOS_SERVOPORT_ALL_PINS_PWMOUT_IN_PPM (PIOS_SERVOPORT_ALL_PINS_PWMOUT_IN - 1) const struct pios_servo_cfg pios_servo_cfg_out = { .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 = PIOS_SERVOPORT_ALL_PINS_PWMOUT, }; // All servo outputs, servo input ch1 ppm, ch2-6 outputs const struct pios_servo_cfg pios_servo_cfg_out_in_ppm = { .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 = PIOS_SERVOPORT_ALL_PINS_PWMOUT_IN_PPM, }; // All servo outputs, servo inputs ch1-6 Outputs const struct pios_servo_cfg pios_servo_cfg_out_in = { .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 = PIOS_SERVOPORT_ALL_PINS_PWMOUT_IN, }; /* * PWM Inputs * TIM1, TIM8, TIM12 */ #if defined(PIOS_INCLUDE_PWM) || defined(PIOS_INCLUDE_PPM) #include static const struct pios_tim_channel pios_tim_rcvrport_all_channels[] = { TIM_SERVO_CHANNEL_CONFIG(TIM2, 3, B, 10), TIM_SERVO_CHANNEL_CONFIG(TIM3, 4, B, 1), TIM_SERVO_CHANNEL_CONFIG(TIM3, 3, B, 0), TIM_SERVO_CHANNEL_CONFIG(TIM3, 2, A, 7), TIM_SERVO_CHANNEL_CONFIG(TIM3, 1, A, 6), TIM_SERVO_CHANNEL_CONFIG(TIM2, 1, A, 5), }; 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), }; #endif /* if defined(PIOS_INCLUDE_PWM) || defined(PIOS_INCLUDE_PPM) */ /* * PPM Input */ #if defined(PIOS_INCLUDE_PPM) #include static 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, .TIM_Channel = TIM_Channel_4, }, /* Use only the second channel for ppm */ .channels = &pios_tim_servoport_all_pins[PIOS_SERVOPORT_ALL_PINS_PWMOUT_IN - 1], .num_channels = 1, }; #endif // PPM #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_rnano_cfg = { .irq = { .init = { .NVIC_IRQChannel = OTG_FS_IRQn, .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH, .NVIC_IRQChannelSubPriority = 0, .NVIC_IRQChannelCmd = ENABLE, }, }, .vsense = { .gpio = GPIOA, .init = { .GPIO_Pin = GPIO_Pin_9, .GPIO_Speed = GPIO_Speed_25MHz, .GPIO_Mode = GPIO_Mode_IN, .GPIO_OType = GPIO_OType_OD, }, }, .vsense_active_low = false }; const struct pios_usb_cfg *PIOS_BOARD_HW_DEFS_GetUsbCfg(uint32_t board_revision) { switch (board_revision) { default: return &pios_usb_main_rnano_cfg; break; } return NULL; } #include "pios_usb_board_data_priv.h" #include "pios_usb_desc_hid_cdc_priv.h" #include "pios_usb_desc_hid_only_priv.h" #include "pios_usbhook.h" #endif /* PIOS_INCLUDE_USB */ #if defined(PIOS_INCLUDE_COM_MSG) #include #endif /* PIOS_INCLUDE_COM_MSG */ #ifdef PIOS_INCLUDE_WS2811 #include #include #define PIOS_WS2811_TIM_DIVIDER (PIOS_PERIPHERAL_APB2_CLOCK / (800000 * PIOS_WS2811_TIM_PERIOD)) void DMA2_Stream1_IRQHandler(void) __attribute__((alias("PIOS_WS2811_irq_handler"))); // list of pin configurable as ws281x outputs. // this will not clash with PWM in or servo output as // pins will be reconfigured as _OUT so the alternate function is disabled. const struct pios_ws2811_pin_cfg pios_ws2811_pin_cfg[] = { [HWSETTINGS_WS2811LED_OUT_SERVOOUT1] = { .gpio = GPIOA, .gpioInit = { .GPIO_Pin = GPIO_Pin_10, .GPIO_Speed = GPIO_Speed_25MHz, .GPIO_Mode = GPIO_Mode_OUT, .GPIO_OType = GPIO_OType_PP, }, }, }; const struct pios_ws2811_cfg pios_ws2811_cfg = { .timer = TIM1, .timerInit = { .TIM_Prescaler = PIOS_WS2811_TIM_DIVIDER - 1, .TIM_ClockDivision = TIM_CKD_DIV1, .TIM_CounterMode = TIM_CounterMode_Up, // period (1.25 uS per period .TIM_Period = PIOS_WS2811_TIM_PERIOD, .TIM_RepetitionCounter = 0x0000, }, .timerCh1 = 1, .streamCh1 = DMA2_Stream1, .timerCh2 = 3, .streamCh2 = DMA2_Stream6, .streamUpdate = DMA2_Stream5, // DMA streamCh1, triggered by timerCh1 pwm signal. // if FrameBuffer indicates, reset output value early to indicate "0" bit to ws2812 .dmaInitCh1 = PIOS_WS2811_DMA_CH1_CONFIG(DMA_Channel_6), .dmaItCh1 = DMA_IT_TEIF1 | DMA_IT_TCIF1, // DMA streamCh2, triggered by timerCh2 pwm signal. // Reset output value late to indicate "1" bit to ws2812. .dmaInitCh2 = PIOS_WS2811_DMA_CH2_CONFIG(DMA_Channel_6), .dmaItCh2 = DMA_IT_TEIF6 | DMA_IT_TCIF6, // DMA streamUpdate Triggered by timer update event // Outputs a high logic level at beginning of a cycle .dmaInitUpdate = PIOS_WS2811_DMA_UPDATE_CONFIG(DMA_Channel_6), .dmaItUpdate = DMA_IT_TEIF5 | DMA_IT_TCIF5, .dmaSource = TIM_DMA_CC1 | TIM_DMA_CC3 | TIM_DMA_Update, // DMAInitCh1 interrupt vector, used to block timer at end of framebuffer transfer .irq = { .flags = (DMA_IT_TCIF1), .init = { .NVIC_IRQChannel = DMA2_Stream1_IRQn, .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST, .NVIC_IRQChannelSubPriority = 0, .NVIC_IRQChannelCmd = ENABLE, }, }, }; void PIOS_WS2811_irq_handler(void) { PIOS_WS2811_DMA_irq_handler(); } #endif // PIOS_INCLUDE_WS2811 #ifdef PIOS_INCLUDE_FLASH_OBJLIST #include struct flashfs_cfg flash_main_fs_cfg = { .table_magic = 0x01020304, .obj_magic = 0x19293949, .obj_table_start = 0x00000010, .obj_table_end = 0x1000, .sector_size = 0x100, .chip_size = 0x10000 }; #endif /* PIOS_INCLUDE_FLASH_OBJLIST */ #ifdef PIOS_INCLUDE_FLASH_EEPROM #include struct pios_flash_eeprom_cfg flash_main_chip_cfg = { .page_len = 128, .total_size = 0x10000, }; // .i2c_address = 0x50, #endif /* PIOS_INCLUDE_FLASH_EEPROM */ /** * Sensor configurations */ #if defined(PIOS_INCLUDE_ADC) #include "pios_adc_priv.h" void PIOS_ADC_DMC_irq_handler(void); void DMA2_Stream4_IRQHandler(void) __attribute__((alias("PIOS_ADC_DMC_irq_handler"))); struct pios_adc_cfg pios_adc_cfg = { .adc_dev = ADC1, .dma = { .irq = { .flags = (DMA_FLAG_TCIF4 | DMA_FLAG_TEIF4 | DMA_FLAG_HTIF4), .init = { .NVIC_IRQChannel = DMA2_Stream4_IRQn, .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW, .NVIC_IRQChannelSubPriority = 0, .NVIC_IRQChannelCmd = ENABLE, }, }, .rx = { .channel = DMA2_Stream4, .init = { .DMA_Channel = DMA_Channel_0, .DMA_PeripheralBaseAddr = (uint32_t)&ADC1->DR }, } }, .half_flag = DMA_IT_HTIF4, .full_flag = DMA_IT_TCIF4, }; void PIOS_ADC_DMC_irq_handler(void) { /* Call into the generic code to handle the IRQ for this specific device */ 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) */ #if defined(PIOS_INCLUDE_HMC5X83) #include "pios_hmc5x83.h" static const struct pios_hmc5x83_cfg pios_hmc5x83_external_cfg = { #ifdef PIOS_HMC5X83_HAS_GPIOS .exti_cfg = NULL, #endif .M_ODR = PIOS_HMC5x83_ODR_75, // if you change this for auxmag, change AUX_MAG_SKIP in sensors.c .Meas_Conf = PIOS_HMC5x83_MEASCONF_NORMAL, .Gain = PIOS_HMC5x83_GAIN_1_9, .Mode = PIOS_HMC5x83_MODE_CONTINUOUS, .TempCompensation = false, .Driver = &PIOS_HMC5x83_I2C_DRIVER, .Orientation = PIOS_HMC5X83_ORIENTATION_EAST_NORTH_UP, // ENU for GPSV9, WND for typical I2C mag }; const struct pios_hmc5x83_cfg *PIOS_BOARD_HW_DEFS_GetExternalHMC5x83Cfg(__attribute__((unused)) uint32_t board_revision) { return &pios_hmc5x83_external_cfg; } #endif /* PIOS_INCLUDE_HMC5X83 */ /** * Configuration for the MS5611 chip */ #if defined(PIOS_INCLUDE_MS5611) #include "pios_ms5611.h" static const struct pios_ms5611_cfg pios_ms5611_cfg = { .oversampling = MS5611_OSR_4096, }; const struct pios_ms5611_cfg *PIOS_BOARD_HW_DEFS_GetMS5611Cfg(__attribute__((unused)) uint32_t board_revision) { return &pios_ms5611_cfg; } #endif /* PIOS_INCLUDE_MS5611 */ /** * Configuration for the MPU9250 chip */ #if defined(PIOS_INCLUDE_MPU9250) #include "pios_mpu9250.h" #include "pios_mpu9250_config.h" static const struct pios_exti_cfg pios_exti_mpu9250_cfg __exti_config = { .vector = PIOS_MPU9250_IRQHandler, .line = EXTI_Line15, .pin = { .gpio = GPIOA, .init = { .GPIO_Pin = GPIO_Pin_15, .GPIO_Speed = GPIO_Speed_100MHz, .GPIO_Mode = GPIO_Mode_IN, .GPIO_OType = GPIO_OType_OD, .GPIO_PuPd = GPIO_PuPd_NOPULL, }, }, .irq = { .init = { .NVIC_IRQChannel = EXTI15_10_IRQn, .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH, .NVIC_IRQChannelSubPriority = 0, .NVIC_IRQChannelCmd = ENABLE, }, }, .exti = { .init = { .EXTI_Line = EXTI_Line15, // matches above GPIO pin .EXTI_Mode = EXTI_Mode_Interrupt, .EXTI_Trigger = EXTI_Trigger_Rising, .EXTI_LineCmd = ENABLE, }, }, }; static const struct pios_mpu9250_cfg pios_mpu9250_cfg = { .exti_cfg = &pios_exti_mpu9250_cfg, .Fifo_store = 0, // Clock at 8 khz .Smpl_rate_div_no_dlp = 0, // with dlp on output rate is 1000Hz .Smpl_rate_div_dlp = 0, .interrupt_cfg = PIOS_MPU9250_INT_CLR_ANYRD, // | PIOS_MPU9250_INT_LATCH_EN, .interrupt_en = PIOS_MPU9250_INTEN_DATA_RDY, .User_ctl = PIOS_MPU9250_USERCTL_DIS_I2C | PIOS_MPU9250_USERCTL_I2C_MST_EN, .Pwr_mgmt_clk = PIOS_MPU9250_PWRMGMT_PLL_Z_CLK, .accel_range = PIOS_MPU9250_ACCEL_8G, .gyro_range = PIOS_MPU9250_SCALE_2000_DEG, .filter = PIOS_MPU9250_LOWPASS_256_HZ, .orientation = PIOS_MPU9250_TOP_180DEG, .fast_prescaler = PIOS_SPI_PRESCALER_4, .std_prescaler = PIOS_SPI_PRESCALER_64, .max_downsample = 26, }; #endif /* PIOS_INCLUDE_MPU9250 */