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LibrePilot/flight/targets/boards/gpsplatinum/board_hw_defs.c

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/**
******************************************************************************
* @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 <pios_led_priv.h>
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 <pios_spi_priv.h>
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)
pios_hmc5x83_dev_t onboard_mag;
#include "pios_hmc5x83.h"
#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_Line7,
.pin = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_7,
.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 = EXTI4_15_IRQn,
.NVIC_IRQChannelPriority = PIOS_IRQ_PRIO_LOW,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.exti = {
.init = {
.EXTI_Line = EXTI_Line7, // 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,
};
#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 <pios_rtc_priv.h>
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 <pios_i2c_priv.h>
/*
* 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 = {
.remap = 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 <pios_com_msg_priv.h>
#endif /* PIOS_INCLUDE_COM_MSG */
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