/** ****************************************************************************** * @addtogroup OpenPilotBL OpenPilot BootLoader * @{ * * @file pios_board.c * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. * @brief Defines board specific static initialisers 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 #if defined(PIOS_INCLUDE_SPI) #include /* 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_8, }, .use_crc = TRUE, .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_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, }, }, }; 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 */ #if defined(PIOS_INCLUDE_USART) #include "pios_usart_priv.h" /* * Telemetry USART */ 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 = { .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, }, }, }; #endif /* PIOS_INCLUDE_USART */ #if defined(PIOS_INCLUDE_COM) #include "pios_com_priv.h" #define PIOS_COM_TELEM_USB_RX_BUF_LEN 192 #define PIOS_COM_TELEM_USB_TX_BUF_LEN 192 static uint8_t pios_com_telem_usb_rx_buffer[PIOS_COM_TELEM_USB_RX_BUF_LEN]; static uint8_t pios_com_telem_usb_tx_buffer[PIOS_COM_TELEM_USB_TX_BUF_LEN]; #define PIOS_COM_TELEM_RF_RX_BUF_LEN 192 #define PIOS_COM_TELEM_RF_TX_BUF_LEN 192 static uint8_t pios_com_telem_rf_rx_buffer[PIOS_COM_TELEM_RF_RX_BUF_LEN]; static uint8_t pios_com_telem_rf_tx_buffer[PIOS_COM_TELEM_RF_TX_BUF_LEN]; #endif /* PIOS_INCLUDE_COM */ #if defined(PIOS_INCLUDE_USB_HID) #include "pios_usb_hid_priv.h" static const struct pios_usb_cfg pios_usb_main_cfg = { .irq = { .init = { .NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn, .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW, .NVIC_IRQChannelSubPriority = 0, .NVIC_IRQChannelCmd = ENABLE, }, }, }; #endif /* PIOS_INCLUDE_USB_HID */ #if defined(PIOS_INCLUDE_USB_COM) #include const struct pios_usb_com_cfg pios_usb_com_hid_cfg = { .type = PIOS_USB_COM_HID, .data_if = 0, .data_rx_ep = 1, .data_tx_ep = 1, }; #endif /* PIOS_INCLUDE_USB_COM */ uint32_t pios_com_telem_rf_id; uint32_t pios_com_telem_usb_hid_id; uint32_t pios_com_telem_usb_cdc_id; #include "pios_opahrs.h" /** * PIOS_Board_Init() * initializes all the core subsystems on this specific hardware * called from System/openpilot.c */ static bool board_init_complete = false; void PIOS_Board_Init(void) { if (board_init_complete) { return; } /* Enable Prefetch Buffer */ FLASH_PrefetchBufferCmd(FLASH_PrefetchBuffer_Enable); /* Flash 2 wait state */ FLASH_SetLatency(FLASH_Latency_2); /* Delay system */ PIOS_DELAY_Init(); /* Initialize the PiOS library */ #if defined(PIOS_INCLUDE_COM) uint32_t pios_usart_telem_rf_id; 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_com_telem_rf_rx_buffer, sizeof(pios_com_telem_rf_rx_buffer), pios_com_telem_rf_tx_buffer, sizeof(pios_com_telem_rf_tx_buffer))) { PIOS_DEBUG_Assert(0); } #endif /* PIOS_INCLUDE_COM */ PIOS_GPIO_Init(); #if defined(PIOS_INCLUDE_USB_HID) uint32_t pios_usb_id; PIOS_USB_Init(&pios_usb_id, &pios_usb_main_cfg); #if defined(PIOS_INCLUDE_COM) uint32_t pios_usb_com_id; if (PIOS_USB_COM_Init(&pios_usb_com_id, &pios_usb_com_hid_cfg, pios_usb_id)) { PIOS_Assert(0); } if (PIOS_COM_Init(&pios_com_telem_usb_hid_id, &pios_usb_hid_com_driver, pios_usb_com_id, pios_com_telem_usb_rx_buffer, sizeof(pios_com_telem_usb_rx_buffer), pios_com_telem_usb_tx_buffer, sizeof(pios_com_telem_usb_tx_buffer))) { PIOS_Assert(0); } #endif /* PIOS_INCLUDE_COM */ #endif /* PIOS_INCLUDE_USB_HID */ RCC_AHBPeriphClockCmd(RCC_AHBPeriph_CRC, ENABLE);//TODO Tirar /* 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 */ PIOS_OPAHRS_Attach(pios_spi_ahrs_id); board_init_complete = true; } /** * @} */