/** ****************************************************************************** * @file board_hw_defs.c * @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2017. * The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012. * PhoenixPilot, http://github.com/PhoenixPilot, Copyright (C) 2012 * * @brief Defines board specific static initializers for hardware for the PikoBLX 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 */ #if defined(PIOS_INCLUDE_LED) #include static const struct pios_gpio pios_leds[] = { [PIOS_LED_HEARTBEAT] = { .pin = { .gpio = GPIOB, .init = { .GPIO_Pin = GPIO_Pin_9, .GPIO_Mode = GPIO_Mode_OUT, .GPIO_OType = GPIO_OType_PP, .GPIO_Speed = GPIO_Speed_50MHz, .GPIO_PuPd = GPIO_PuPd_NOPULL, }, }, .active_low = true }, [PIOS_LED_ALARM] = { .pin = { .gpio = GPIOB, .init = { .GPIO_Pin = GPIO_Pin_5, .GPIO_Mode = GPIO_Mode_OUT, .GPIO_OType = GPIO_OType_PP, .GPIO_Speed = GPIO_Speed_50MHz, .GPIO_PuPd = GPIO_PuPd_NOPULL, }, }, .active_low = true }, [PIOS_LED_BUZZER] = { /* not really LED, but buzzer! */ .pin = { .gpio = GPIOA, .init = { .GPIO_Pin = GPIO_Pin_0, .GPIO_Mode = GPIO_Mode_OUT, .GPIO_OType = GPIO_OType_PP, .GPIO_Speed = GPIO_Speed_50MHz, .GPIO_PuPd = GPIO_PuPd_NOPULL, }, }, .active_low = false }, }; 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 /* Gyro interface */ static const struct pios_spi_cfg pios_spi_mpu6000_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, /* 10 Mhz */ }, .use_crc = false, .remap = GPIO_AF_5, .sclk = { .gpio = GPIOB, .init = { .GPIO_Pin = GPIO_Pin_13, .GPIO_Speed = GPIO_Speed_50MHz, .GPIO_Mode = GPIO_Mode_AF, .GPIO_OType = GPIO_OType_PP, .GPIO_PuPd = GPIO_PuPd_NOPULL, }, }, .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_NOPULL, }, }, .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_NOPULL, }, }, .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 }, } }, }; uint32_t pios_spi_mpu6000_id; #endif /* PIOS_INCLUDE_SPI */ #if defined(PIOS_INCLUDE_FLASH) #include "pios_flashfs_logfs_priv.h" #include "pios_flash_jedec_priv.h" #include "pios_flash_internal_priv.h" static const struct pios_flash_internal_cfg flash_internal_system_cfg = {}; static const struct flashfs_logfs_cfg flashfs_internal_cfg = { .fs_magic = 0x99abcfef, .total_fs_size = EE_BANK_SIZE, /* 32K bytes (16x2KB sectors) */ .arena_size = 0x00004000, /* 64 * slot size = 16K bytes = 8 sectors */ .slot_size = 0x00000100, /* 256 bytes */ .start_offset = EE_BANK_BASE, /* start after the bootloader */ .sector_size = 0x00000800, /* 2K bytes */ .page_size = 0x00000800, /* 2K bytes */ }; #endif /* PIOS_INCLUDE_FLASH */ #include "pios_tim_priv.h" static const TIM_TimeBaseInitTypeDef tim_time_base = { .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, }; static const struct pios_tim_clock_cfg tim_1_cfg = { .timer = TIM1, .time_base_init = &tim_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_2_cfg = { .timer = TIM2, .time_base_init = &tim_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_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_4_cfg = { .timer = TIM4, .time_base_init = &tim_time_base, .irq = { .init = { .NVIC_IRQChannel = TIM4_IRQn, .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, .NVIC_IRQChannelSubPriority = 0, .NVIC_IRQChannelCmd = ENABLE, }, }, }; static const struct pios_tim_clock_cfg tim_8_cfg = { .timer = TIM8, .time_base_init = &tim_time_base, .irq = { .init = { .NVIC_IRQChannel = TIM8_CC_IRQn, .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, .NVIC_IRQChannelSubPriority = 0, .NVIC_IRQChannelCmd = ENABLE, }, }, }; static const struct pios_tim_clock_cfg tim_15_cfg = { .timer = TIM4, .time_base_init = &tim_time_base, .irq = { .init = { .NVIC_IRQChannel = TIM1_BRK_TIM15_IRQn, .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, .NVIC_IRQChannelSubPriority = 0, .NVIC_IRQChannelCmd = ENABLE, }, }, }; static const struct pios_tim_clock_cfg tim_16_cfg = { .timer = TIM4, .time_base_init = &tim_time_base, .irq = { .init = { .NVIC_IRQChannel = TIM1_UP_TIM16_IRQn, .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, .NVIC_IRQChannelSubPriority = 0, .NVIC_IRQChannelCmd = ENABLE, }, }, }; static const struct pios_tim_clock_cfg tim_17_cfg = { .timer = TIM4, .time_base_init = &tim_time_base, .irq = { .init = { .NVIC_IRQChannel = TIM1_TRG_COM_TIM17_IRQn, .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, .NVIC_IRQChannelSubPriority = 0, .NVIC_IRQChannelCmd = ENABLE, }, }, }; #include #define GPIO_AF_PA1_TIM2 GPIO_AF_1 #define GPIO_AF_PA0_TIM2 GPIO_AF_1 #define GPIO_AF_PA8_TIM1 GPIO_AF_6 #define GPIO_AF_PA2_TIM2 GPIO_AF_1 #define GPIO_AF_PB6_TIM4 GPIO_AF_2 #define GPIO_AF_PB5_TIM3 GPIO_AF_2 #define GPIO_AF_PB0_TIM3 GPIO_AF_2 #define GPIO_AF_PB1_TIM3 GPIO_AF_2 #define GPIO_AF_PB9_TIM4 GPIO_AF_2 #define GPIO_AF_PB8_TIM4 GPIO_AF_2 #define GPIO_AF_PB7_TIM4 GPIO_AF_2 #define GPIO_AF_PB4_TIM3 GPIO_AF_2 #define GPIO_AF_PB11_TIM2 GPIO_AF_1 #define GPIO_AF_PA15_TIM8 GPIO_AF_2 #define GPIO_AF_PA3_TIM15 GPIO_AF_9 #define GPIO_AF_PA6_TIM3 GPIO_AF_2 #define GPIO_AF_PA7_TIM3 GPIO_AF_2 #define GPIO_AF_PA10_TIM2 GPIO_AF_10 #define GPIO_AF_PA4_TIM3 GPIO_AF_2 #define GPIO_AF_PA7_TIM17 GPIO_AF_1 #define GPIO_AF_PB8_TIM16 GPIO_AF_1 #define TIM1_CH1_DMA_INSTANCE 1 #define TIM1_CH1_DMA_CHANNEL 2 #define TIM16_CH1_DMA_INSTANCE 2 #define TIM16_CH1_DMA_CHANNEL 3 static const struct pios_tim_channel pios_tim_servoport_pins[] = { TIM_SERVO_CHANNEL_CONFIG(TIM3, 2, A, 4), // bank 1 TIM_SERVO_CHANNEL_CONFIG(TIM3, 1, A, 6), // bank 1 TIM_SERVO_CHANNEL_CONFIG(TIM3, 3, B, 0), // bank 1 TIM_SERVO_CHANNEL_CONFIG(TIM3, 4, B, 1), // bank 1 TIM_SERVO_CHANNEL_CONFIG(TIM2, 2, A, 1), // bank 2 TIM_SERVO_CHANNEL_CONFIG(TIM2, 3, A, 2), // bank 2 TIM_SERVO_CHANNEL_CONFIG(TIM15, 2, A, 3), // bank 3 TIM_SERVO_CHANNEL_CONFIG(TIM1, 1, A, 8), // transponder (bank 4) }; #if defined(PIOS_INCLUDE_USART) #define GPIO_AF_USART1 GPIO_AF_7 #define GPIO_AF_USART2 GPIO_AF_7 #define GPIO_AF_USART3 GPIO_AF_7 #include "pios_usart_priv.h" #include "pios_usart_config.h" static const struct pios_usart_cfg pios_usart_cfg[] = { USART_CONFIG(USART1, B, 7, B, 6), USART_CONFIG(USART2, B, 4, B, 3), USART_CONFIG(USART3, B, 11, B, 10), }; #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_WKUP_IRQHandler() __attribute__((alias("PIOS_RTC_IRQ_Handler"))); static const struct pios_rtc_cfg pios_rtc_main_cfg = { .clksrc = RCC_RTCCLKSource_HSE_Div32, .prescaler = 25 - 1, // 8Mhz / 32 / 16 / 25 => 625Hz .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) */ #if defined(PIOS_INCLUDE_SERVO) && defined(PIOS_INCLUDE_TIM) /* * Servo outputs */ #include const struct pios_servo_cfg pios_servo_cfg = { .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_pins, .num_channels = NELEMENTS(pios_tim_servoport_pins), }; #endif /* PIOS_INCLUDE_SERVO && PIOS_INCLUDE_TIM */ /* * PPM Inputs */ #if defined(PIOS_INCLUDE_PPM) #include static const struct pios_tim_channel pios_tim_ppm = TIM_SERVO_CHANNEL_CONFIG(TIM17, 1, A, 7); 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, }, .channels = &pios_tim_ppm, .num_channels = 1, }; #endif /* PIOS_INCLUDE_PPM */ #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_cfg = { .irq = { .init = { .NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn, .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW, .NVIC_IRQChannelSubPriority = 0, .NVIC_IRQChannelCmd = ENABLE, }, }, }; const struct pios_usb_cfg *PIOS_BOARD_HW_DEFS_GetUsbCfg(__attribute__((unused)) uint32_t board_revision) { return &pios_usb_main_cfg; } #endif /* PIOS_INCLUDE_USB */ #if defined(PIOS_INCLUDE_WS2811) #include "pios_ws2811_cfg.h" static const struct pios_ws2811_cfg pios_ws2811_cfg = PIOS_WS2811_CONFIG(TIM16, 1, B, 8); void DMA1_Channel2_IRQHandler() { PIOS_WS2811_DMA_irq_handler(); } #endif /* PIOS_INCLUDE_WS2811 */ #if defined(PIOS_INCLUDE_ADC) #include "pios_adc_priv.h" void PIOS_ADC_DMC_irq_handler(void); void DMA2_Channel1_IRQHandler(void) __attribute__((alias("PIOS_ADC_DMC_irq_handler"))); struct pios_adc_cfg pios_adc_cfg = { .adc_dev = ADC2, .dma = { .irq = { .flags = (DMA2_FLAG_TC1 | DMA2_FLAG_TE1 | DMA2_FLAG_HT1), .init = { .NVIC_IRQChannel = DMA2_Channel1_IRQn, .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW, .NVIC_IRQChannelSubPriority = 0, .NVIC_IRQChannelCmd = ENABLE, }, }, .rx = { .channel = DMA2_Channel1, } }, .half_flag = DMA2_FLAG_HT1, .full_flag = DMA2_FLAG_TC1, }; 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) */ /** * Configuration for MPU6000 chip */ #if defined(PIOS_INCLUDE_MPU6000) #include "pios_mpu6000.h" static const struct pios_exti_cfg pios_exti_mpu6000_cfg __exti_config = { .vector = PIOS_MPU6000_IRQHandler, .line = EXTI_Line15, .pin = { .gpio = GPIOA, .init = { .GPIO_Pin = GPIO_Pin_15, .GPIO_Speed = GPIO_Speed_10MHz, .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_mpu6000_cfg pios_mpu6000_cfg = { .exti_cfg = &pios_exti_mpu6000_cfg, .Fifo_store = PIOS_MPU6000_FIFO_TEMP_OUT | PIOS_MPU6000_FIFO_GYRO_X_OUT | PIOS_MPU6000_FIFO_GYRO_Y_OUT | PIOS_MPU6000_FIFO_GYRO_Z_OUT, // Clock at 8 khz, downsampled by 8 for 1000 Hz .Smpl_rate_div_no_dlp = 7, // Clock at 1 khz, downsampled by 1 for 1000 Hz .Smpl_rate_div_dlp = 0, .interrupt_cfg = PIOS_MPU6000_INT_CLR_ANYRD, .interrupt_en = PIOS_MPU6000_INTEN_DATA_RDY, .User_ctl = PIOS_MPU6000_USERCTL_DIS_I2C, .Pwr_mgmt_clk = PIOS_MPU6000_PWRMGMT_PLL_X_CLK, .accel_range = PIOS_MPU6000_ACCEL_8G, .gyro_range = PIOS_MPU6000_SCALE_2000_DEG, .filter = PIOS_MPU6000_LOWPASS_256_HZ, .orientation = PIOS_MPU6000_TOP_180DEG, #ifdef PIOS_INCLUDE_SPI .fast_prescaler = PIOS_SPI_PRESCALER_4, .std_prescaler = PIOS_SPI_PRESCALER_64, #endif /* PIOS_INCLUDE_SPI */ .max_downsample = 2 }; const struct pios_mpu6000_cfg *PIOS_BOARD_HW_DEFS_GetMPU6000Cfg(__attribute__((unused)) uint32_t board_revision) { return &pios_mpu6000_cfg; } #endif /* PIOS_INCLUDE_MPU6000 */