mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-12-12 20:08:48 +01:00
a2d8544931
to make the flight code compile again. Needs careful review, particularly all the fixes for the signed vs unsigned comparisons. +review OPReview-459
694 lines
16 KiB
C
694 lines
16 KiB
C
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#if defined(PIOS_INCLUDE_LED)
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#include <pios_led_priv.h>
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static const struct pios_led pios_leds[] = {
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[PIOS_LED_USB] = {
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.pin = {
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.gpio = GPIOA,
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.init = {
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.GPIO_Pin = GPIO_Pin_3,
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.GPIO_Mode = GPIO_Mode_Out_PP,
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.GPIO_Speed = GPIO_Speed_50MHz,
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},
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},
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},
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[PIOS_LED_LINK] = {
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.pin = {
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.gpio = GPIOB,
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.init = {
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.GPIO_Pin = GPIO_Pin_5,
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.GPIO_Mode = GPIO_Mode_Out_PP,
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.GPIO_Speed = GPIO_Speed_50MHz,
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},
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},
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},
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[PIOS_LED_RX] = {
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.pin = {
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.gpio = GPIOB,
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.init = {
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.GPIO_Pin = GPIO_Pin_6,
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.GPIO_Mode = GPIO_Mode_Out_PP,
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.GPIO_Speed = GPIO_Speed_50MHz,
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},
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},
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},
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[PIOS_LED_TX] = {
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.pin = {
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.gpio = GPIOB,
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.init = {
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.GPIO_Pin = GPIO_Pin_7,
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.GPIO_Mode = GPIO_Mode_Out_PP,
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.GPIO_Speed = GPIO_Speed_50MHz,
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},
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},
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},
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#ifdef PIOS_RFM22B_DEBUG_ON_TELEM
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[PIOS_LED_D1] = {
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.pin = {
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.gpio = GPIOB,
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.init = {
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.GPIO_Pin = GPIO_Pin_14,
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.GPIO_Mode = GPIO_Mode_Out_PP,
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.GPIO_Speed = GPIO_Speed_50MHz,
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},
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},
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},
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[PIOS_LED_D2] = {
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.pin = {
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.gpio = GPIOB,
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.init = {
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.GPIO_Pin = GPIO_Pin_15,
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.GPIO_Mode = GPIO_Mode_Out_PP,
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.GPIO_Speed = GPIO_Speed_50MHz,
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},
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},
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},
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[PIOS_LED_D3] = {
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.pin = {
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.gpio = GPIOA,
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.init = {
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.GPIO_Pin = GPIO_Pin_9,
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.GPIO_Mode = GPIO_Mode_Out_PP,
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.GPIO_Speed = GPIO_Speed_50MHz,
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},
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},
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},
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[PIOS_LED_D4] = {
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.pin = {
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.gpio = GPIOA,
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.init = {
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.GPIO_Pin = GPIO_Pin_10,
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.GPIO_Mode = GPIO_Mode_Out_PP,
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.GPIO_Speed = GPIO_Speed_50MHz,
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},
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},
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},
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#endif
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};
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static const struct pios_led_cfg pios_led_cfg = {
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.leds = pios_leds,
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.num_leds = NELEMENTS(pios_leds),
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};
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const struct pios_led_cfg * PIOS_BOARD_HW_DEFS_GetLedCfg (__attribute__((unused)) uint32_t board_revision)
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{
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return &pios_led_cfg;
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}
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#endif /* PIOS_INCLUDE_LED */
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#if defined(PIOS_INCLUDE_SPI)
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#include <pios_spi_priv.h>
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/* OP Interface
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*
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* NOTE: Leave this declared as const data so that it ends up in the
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* .rodata section (ie. Flash) rather than in the .bss section (RAM).
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*/
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void PIOS_SPI_port_irq_handler(void);
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void DMA1_Channel5_IRQHandler() __attribute__ ((alias ("PIOS_SPI_port_irq_handler")));
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void DMA1_Channel4_IRQHandler() __attribute__ ((alias ("PIOS_SPI_port_irq_handler")));
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static const struct pios_spi_cfg pios_spi_rfm22b_cfg =
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{
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.regs = SPI1,
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.init =
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{
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.SPI_Mode = SPI_Mode_Master,
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.SPI_Direction = SPI_Direction_2Lines_FullDuplex,
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.SPI_DataSize = SPI_DataSize_8b,
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.SPI_NSS = SPI_NSS_Soft,
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.SPI_FirstBit = SPI_FirstBit_MSB,
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.SPI_CRCPolynomial = 0,
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.SPI_CPOL = SPI_CPOL_Low,
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.SPI_CPHA = SPI_CPHA_1Edge,
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.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_16, // slowest SCLK
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},
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.use_crc = FALSE,
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.dma =
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{
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.ahb_clk = RCC_AHBPeriph_DMA1,
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.irq =
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{
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.flags = (DMA1_FLAG_TC2 | DMA1_FLAG_TE2 | DMA1_FLAG_HT2 | DMA1_FLAG_GL2),
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.init = {
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.NVIC_IRQChannel = DMA1_Channel2_IRQn,
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.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
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.NVIC_IRQChannelSubPriority = 0,
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.NVIC_IRQChannelCmd = ENABLE,
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},
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},
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.rx = {
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.channel = DMA1_Channel2,
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.init = {
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.DMA_PeripheralBaseAddr = (uint32_t)&(SPI1->DR),
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.DMA_DIR = DMA_DIR_PeripheralSRC,
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.DMA_PeripheralInc = DMA_PeripheralInc_Disable,
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.DMA_MemoryInc = DMA_MemoryInc_Enable,
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.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
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.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte,
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.DMA_Mode = DMA_Mode_Normal,
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.DMA_Priority = DMA_Priority_Medium,
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.DMA_M2M = DMA_M2M_Disable,
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},
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},
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.tx = {
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.channel = DMA1_Channel3,
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.init = {
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.DMA_PeripheralBaseAddr = (uint32_t)&(SPI1->DR),
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.DMA_DIR = DMA_DIR_PeripheralDST,
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.DMA_PeripheralInc = DMA_PeripheralInc_Disable,
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.DMA_MemoryInc = DMA_MemoryInc_Enable,
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.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
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.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte,
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.DMA_Mode = DMA_Mode_Normal,
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.DMA_Priority = DMA_Priority_Medium,
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.DMA_M2M = DMA_M2M_Disable,
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},
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},
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},
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.slave_count = 1,
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.ssel =
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{{
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.gpio = GPIOA,
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.init =
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{
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.GPIO_Pin = GPIO_Pin_4,
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.GPIO_Speed = GPIO_Speed_10MHz,
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.GPIO_Mode = GPIO_Mode_Out_PP,
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},
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}},
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.sclk =
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{
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.gpio = GPIOA,
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.init =
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{
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.GPIO_Pin = GPIO_Pin_5,
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.GPIO_Speed = GPIO_Speed_10MHz,
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.GPIO_Mode = GPIO_Mode_AF_PP,
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},
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},
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.miso =
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{
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.gpio = GPIOA,
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.init =
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{
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.GPIO_Pin = GPIO_Pin_6,
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.GPIO_Speed = GPIO_Speed_10MHz,
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.GPIO_Mode = GPIO_Mode_IN_FLOATING,
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},
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},
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.mosi =
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{
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.gpio = GPIOA,
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.init =
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{
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.GPIO_Pin = GPIO_Pin_7,
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.GPIO_Speed = GPIO_Speed_10MHz,
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.GPIO_Mode = GPIO_Mode_AF_PP,
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},
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},
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};
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uint32_t pios_spi_rfm22b_id;
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void PIOS_SPI_port_irq_handler(void)
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{
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/* Call into the generic code to handle the IRQ for this specific device */
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PIOS_SPI_IRQ_Handler(pios_spi_rfm22b_id);
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}
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#endif /* PIOS_INCLUDE_SPI */
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#if defined(PIOS_INCLUDE_RFM22B)
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#include <pios_rfm22b_priv.h>
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static const struct pios_exti_cfg pios_exti_rfm22b_cfg __exti_config = {
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.vector = PIOS_RFM22_EXT_Int,
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.line = EXTI_Line2,
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.pin = {
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.gpio = GPIOA,
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.init = {
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.GPIO_Pin = GPIO_Pin_2,
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.GPIO_Mode = GPIO_Mode_IN_FLOATING,
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},
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},
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.irq = {
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.init = {
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.NVIC_IRQChannel = EXTI2_IRQn,
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.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW,
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.NVIC_IRQChannelSubPriority = 0,
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.NVIC_IRQChannelCmd = ENABLE,
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},
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},
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.exti = {
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.init = {
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.EXTI_Line = EXTI_Line2,
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.EXTI_Mode = EXTI_Mode_Interrupt,
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.EXTI_Trigger = EXTI_Trigger_Falling,
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.EXTI_LineCmd = ENABLE,
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},
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},
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};
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#include <pios_rfm22b_priv.h>
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struct pios_rfm22b_cfg pios_rfm22b_cfg = {
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.spi_cfg = &pios_spi_rfm22b_cfg,
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.exti_cfg = &pios_exti_rfm22b_cfg,
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.RFXtalCap = 0x7f,
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.slave_num = 0,
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.gpio_direction = GPIO0_TX_GPIO1_RX,
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};
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//! Compatibility layer for various hardware revisions
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const struct pios_rfm22b_cfg * PIOS_BOARD_HW_DEFS_GetRfm22Cfg (__attribute__((unused)) uint32_t board_revision)
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{
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return &pios_rfm22b_cfg;
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}
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#endif /* PIOS_INCLUDE_RFM22B */
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#if defined(PIOS_INCLUDE_ADC)
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/*
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* ADC system
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*/
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#include "pios_adc_priv.h"
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extern void PIOS_ADC_handler(void);
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void DMA1_Channel1_IRQHandler() __attribute__ ((alias("PIOS_ADC_handler")));
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// Remap the ADC DMA handler to this one
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static const struct pios_adc_cfg pios_adc_cfg = {
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.dma = {
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.ahb_clk = RCC_AHBPeriph_DMA1,
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.irq = {
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.flags = (DMA1_FLAG_TC1 | DMA1_FLAG_TE1 | DMA1_FLAG_HT1 | DMA1_FLAG_GL1),
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.init = {
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.NVIC_IRQChannel = DMA1_Channel1_IRQn,
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.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
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.NVIC_IRQChannelSubPriority = 0,
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.NVIC_IRQChannelCmd = ENABLE,
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},
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},
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.rx = {
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.channel = DMA1_Channel1,
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.init = {
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.DMA_PeripheralBaseAddr = (uint32_t) & ADC1->DR,
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.DMA_DIR = DMA_DIR_PeripheralSRC,
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.DMA_PeripheralInc = DMA_PeripheralInc_Disable,
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.DMA_MemoryInc = DMA_MemoryInc_Enable,
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.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Word,
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.DMA_MemoryDataSize = DMA_MemoryDataSize_Word,
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.DMA_Mode = DMA_Mode_Circular,
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.DMA_Priority = DMA_Priority_High,
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.DMA_M2M = DMA_M2M_Disable,
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},
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}
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},
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.half_flag = DMA1_IT_HT1,
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.full_flag = DMA1_IT_TC1,
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};
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struct pios_adc_dev pios_adc_devs[] = {
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{
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.cfg = &pios_adc_cfg,
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.callback_function = NULL,
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},
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};
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uint8_t pios_adc_num_devices = NELEMENTS(pios_adc_devs);
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void PIOS_ADC_handler() {
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PIOS_ADC_DMA_Handler();
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}
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#endif /* PIOS_INCLUDE_ADC */
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#if defined(PIOS_INCLUDE_TIM)
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#include "pios_tim_priv.h"
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static const TIM_TimeBaseInitTypeDef tim_1_2_3_4_time_base = {
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.TIM_Prescaler = (PIOS_MASTER_CLOCK / 1000000) - 1,
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.TIM_ClockDivision = TIM_CKD_DIV1,
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.TIM_CounterMode = TIM_CounterMode_Up,
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.TIM_Period = ((1000000 / PIOS_SERVO_UPDATE_HZ) - 1),
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.TIM_RepetitionCounter = 0x0000,
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};
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static const struct pios_tim_clock_cfg tim_1_cfg = {
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.timer = TIM1,
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.time_base_init = &tim_1_2_3_4_time_base,
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.irq = {
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.init = {
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.NVIC_IRQChannel = TIM1_CC_IRQn,
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.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
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.NVIC_IRQChannelSubPriority = 0,
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.NVIC_IRQChannelCmd = ENABLE,
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},
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},
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};
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static const struct pios_tim_clock_cfg tim_2_cfg = {
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.timer = TIM2,
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.time_base_init = &tim_1_2_3_4_time_base,
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.irq = {
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.init = {
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.NVIC_IRQChannel = TIM2_IRQn,
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.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
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.NVIC_IRQChannelSubPriority = 0,
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.NVIC_IRQChannelCmd = ENABLE,
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},
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},
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};
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static const struct pios_tim_clock_cfg tim_3_cfg = {
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.timer = TIM3,
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.time_base_init = &tim_1_2_3_4_time_base,
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.irq = {
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.init = {
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.NVIC_IRQChannel = TIM3_IRQn,
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.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
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.NVIC_IRQChannelSubPriority = 0,
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.NVIC_IRQChannelCmd = ENABLE,
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},
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},
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};
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static const struct pios_tim_clock_cfg tim_4_cfg = {
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.timer = TIM4,
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.time_base_init = &tim_1_2_3_4_time_base,
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.irq = {
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.init = {
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.NVIC_IRQChannel = TIM4_IRQn,
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.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
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.NVIC_IRQChannelSubPriority = 0,
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.NVIC_IRQChannelCmd = ENABLE,
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},
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},
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};
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static const struct pios_tim_channel pios_tim_ppm_flexi_port = {
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.timer = TIM2,
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.timer_chan = TIM_Channel_4,
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.pin = {
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.gpio = GPIOB,
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.init = {
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.GPIO_Pin = GPIO_Pin_11,
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.GPIO_Mode = GPIO_Mode_IPD,
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.GPIO_Speed = GPIO_Speed_2MHz,
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},
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},
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.remap = GPIO_PartialRemap2_TIM2,
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};
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static const struct pios_tim_channel pios_tim_ppm_main_port = {
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.timer = TIM1,
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.timer_chan = TIM_Channel_2,
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.pin = {
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.gpio = GPIOA,
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.init = {
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.GPIO_Pin = GPIO_Pin_9,
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.GPIO_Mode = GPIO_Mode_IPD,
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.GPIO_Speed = GPIO_Speed_2MHz,
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},
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},
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};
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#endif /* PIOS_INCLUDE_TIM */
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#if defined(PIOS_INCLUDE_USART)
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#include <pios_usart_priv.h>
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/*
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* SERIAL USART
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*/
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static const struct pios_usart_cfg pios_usart_serial_cfg =
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{
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.regs = USART1,
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.init =
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{
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.USART_BaudRate = 57600,
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.USART_WordLength = USART_WordLength_8b,
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.USART_Parity = USART_Parity_No,
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.USART_StopBits = USART_StopBits_1,
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.USART_HardwareFlowControl = USART_HardwareFlowControl_None,
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.USART_Mode = USART_Mode_Rx | USART_Mode_Tx,
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},
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.irq =
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{
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.init =
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{
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.NVIC_IRQChannel = USART1_IRQn,
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.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
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.NVIC_IRQChannelSubPriority = 0,
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.NVIC_IRQChannelCmd = ENABLE,
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},
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},
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.rx =
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{
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.gpio = GPIOA,
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.init =
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{
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.GPIO_Pin = GPIO_Pin_10,
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.GPIO_Speed = GPIO_Speed_2MHz,
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.GPIO_Mode = GPIO_Mode_IPU,
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},
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},
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.tx =
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{
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.gpio = GPIOA,
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.init =
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{
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.GPIO_Pin = GPIO_Pin_9,
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.GPIO_Speed = GPIO_Speed_2MHz,
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.GPIO_Mode = GPIO_Mode_AF_PP,
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},
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},
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};
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static const struct pios_usart_cfg pios_usart_telem_flexi_cfg = {
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.regs = USART3,
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.init = {
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.USART_BaudRate = 57600,
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.USART_WordLength = USART_WordLength_8b,
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.USART_Parity = USART_Parity_No,
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.USART_StopBits = USART_StopBits_1,
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.USART_HardwareFlowControl = USART_HardwareFlowControl_None,
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.USART_Mode = USART_Mode_Rx | USART_Mode_Tx,
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},
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.irq = {
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.init = {
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.NVIC_IRQChannel = USART3_IRQn,
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.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
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.NVIC_IRQChannelSubPriority = 0,
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.NVIC_IRQChannelCmd = ENABLE,
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},
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},
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.rx = {
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.gpio = GPIOB,
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.init = {
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.GPIO_Pin = GPIO_Pin_11,
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.GPIO_Speed = GPIO_Speed_2MHz,
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.GPIO_Mode = GPIO_Mode_IPU,
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},
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},
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.tx = {
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.gpio = GPIOB,
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.init = {
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.GPIO_Pin = GPIO_Pin_10,
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.GPIO_Speed = GPIO_Speed_2MHz,
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.GPIO_Mode = GPIO_Mode_AF_PP,
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},
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},
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};
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#endif /* PIOS_INCLUDE_USART */
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#if defined(PIOS_INCLUDE_COM)
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#include <pios_com_priv.h>
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#endif /* PIOS_INCLUDE_COM */
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#if defined(PIOS_INCLUDE_RTC)
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/*
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* Realtime Clock (RTC)
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|
*/
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#include <pios_rtc_priv.h>
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void PIOS_RTC_IRQ_Handler (void);
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void RTC_IRQHandler() __attribute__ ((alias ("PIOS_RTC_IRQ_Handler")));
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static const struct pios_rtc_cfg pios_rtc_main_cfg = {
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.clksrc = RCC_RTCCLKSource_HSE_Div128,
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.prescaler = 100,
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.irq = {
|
|
.init = {
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|
.NVIC_IRQChannel = RTC_IRQn,
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.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
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.NVIC_IRQChannelSubPriority = 0,
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.NVIC_IRQChannelCmd = ENABLE,
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},
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},
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|
};
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|
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void PIOS_RTC_IRQ_Handler (void)
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|
{
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|
PIOS_RTC_irq_handler ();
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}
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|
|
#endif
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|
|
/*
|
|
* PPM Inputs
|
|
*/
|
|
#if defined(PIOS_INCLUDE_PPM)
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|
#include <pios_ppm_priv.h>
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|
|
|
const struct pios_ppm_cfg pios_ppm_flexi_cfg = {
|
|
.tim_ic_init = {
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|
.TIM_ICPolarity = TIM_ICPolarity_Rising,
|
|
.TIM_ICSelection = TIM_ICSelection_DirectTI,
|
|
.TIM_ICPrescaler = TIM_ICPSC_DIV1,
|
|
.TIM_ICFilter = 0x0,
|
|
},
|
|
.channels = &pios_tim_ppm_flexi_port,
|
|
.num_channels = 1,
|
|
};
|
|
|
|
const struct pios_ppm_cfg pios_ppm_main_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_main_port,
|
|
.num_channels = 1,
|
|
};
|
|
|
|
#endif /* PIOS_INCLUDE_PPM */
|
|
|
|
/*
|
|
* PPM Output
|
|
*/
|
|
#if defined(PIOS_INCLUDE_PPM_OUT)
|
|
#include <pios_ppm_out_priv.h>
|
|
|
|
uint32_t pios_ppm_id;
|
|
|
|
static const struct pios_tim_channel pios_tim_ppmout[] = {
|
|
{
|
|
.timer = TIM2,
|
|
.timer_chan = TIM_Channel_3,
|
|
.pin = {
|
|
.gpio = GPIOB,
|
|
.init = {
|
|
.GPIO_Pin = GPIO_Pin_10,
|
|
.GPIO_Mode = GPIO_Mode_AF_PP,
|
|
.GPIO_Speed = GPIO_Speed_2MHz,
|
|
},
|
|
},
|
|
.remap = GPIO_FullRemap_TIM2,
|
|
}
|
|
};
|
|
|
|
const struct pios_ppm_out_cfg pios_ppm_out_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_Low,
|
|
.TIM_OCNPolarity = TIM_OCPolarity_Low,
|
|
.TIM_OCIdleState = TIM_OCIdleState_Reset,
|
|
.TIM_OCNIdleState = TIM_OCNIdleState_Reset,
|
|
},
|
|
.channel = pios_tim_ppmout,
|
|
};
|
|
|
|
#endif /* PIOS_INCLUDE_PPM_OUT */
|
|
|
|
#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,
|
|
},
|
|
},
|
|
.vsense = {
|
|
.gpio = GPIOA,
|
|
.init = {
|
|
.GPIO_Pin = GPIO_Pin_8,
|
|
.GPIO_Speed = GPIO_Speed_10MHz,
|
|
.GPIO_Mode = GPIO_Mode_AF_OD,
|
|
},
|
|
}
|
|
};
|
|
|
|
#include "pios_usb_board_data_priv.h"
|
|
#include "pios_usb_desc_hid_cdc_priv.h"
|
|
#include "pios_usb_desc_hid_only_priv.h"
|
|
|
|
#endif /* PIOS_INCLUDE_USB */
|
|
|
|
#if defined(PIOS_INCLUDE_COM_MSG)
|
|
|
|
#include <pios_com_msg_priv.h>
|
|
|
|
#endif /* PIOS_INCLUDE_COM_MSG */
|
|
|
|
#if defined(PIOS_INCLUDE_USB_HID)
|
|
#include <pios_usb_hid_priv.h>
|
|
|
|
const struct pios_usb_hid_cfg pios_usb_hid_cfg = {
|
|
.data_if = 2,
|
|
.data_rx_ep = 1,
|
|
.data_tx_ep = 1,
|
|
};
|
|
#endif /* PIOS_INCLUDE_USB_HID */
|
|
|
|
#if defined(PIOS_INCLUDE_USB_CDC)
|
|
#include <pios_usb_cdc_priv.h>
|
|
|
|
const struct pios_usb_cdc_cfg pios_usb_cdc_cfg = {
|
|
.ctrl_if = 0,
|
|
.ctrl_tx_ep = 2,
|
|
|
|
.data_if = 1,
|
|
.data_rx_ep = 3,
|
|
.data_tx_ep = 3,
|
|
};
|
|
#endif /* PIOS_INCLUDE_USB_CDC */
|
|
|
|
#if defined(PIOS_INCLUDE_FLASH_EEPROM)
|
|
#include <pios_eeprom.h>
|
|
|
|
const struct pios_eeprom_cfg pios_eeprom_cfg = {
|
|
.base_address = PIOS_FLASH_EEPROM_ADDR,
|
|
.max_size = PIOS_FLASH_EEPROM_LEN,
|
|
};
|
|
#endif /* PIOS_INCLUDE_FLASH_EEPROM */
|
|
|
|
#if defined(PIOS_INCLUDE_RFM22B)
|
|
#include <pios_rfm22b_priv.h>
|
|
|
|
#endif /* PIOS_INCLUDE_RFM22B */
|