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https://bitbucket.org/librepilot/librepilot.git
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c87a042195
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790 lines
22 KiB
C
790 lines
22 KiB
C
/**
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******************************************************************************
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* @addtogroup PIOS PIOS Core hardware abstraction layer
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* @{
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* @addtogroup PIOS_HMC5883 HMC5883 Functions
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* @brief Deals with the hardware interface to the magnetometers
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* @{
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*
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* @file pios_board.c
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* @author David "Buzz" Carlson (buzz@chebuzz.com)
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* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
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* @brief Defines board specific static initializers for hardware for the INS board.
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#include <pios.h>
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#if defined(PIOS_INCLUDE_SPI)
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#include <pios_spi_priv.h>
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/* SPI2 Interface
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* - Used for mainboard communications
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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_op_irq_handler(void);
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void DMA1_Stream3_IRQHandler(void) __attribute__((alias("PIOS_SPI_op_irq_handler")));
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void DMA1_Stream4_IRQHandler(void) __attribute__((alias("PIOS_SPI_op_irq_handler")));
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static const struct pios_spi_cfg pios_spi_op_cfg = {
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.regs = SPI2,
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.remap = GPIO_AF_SPI2,
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.init = {
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.SPI_Mode = SPI_Mode_Slave,
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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_Hard,
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.SPI_FirstBit = SPI_FirstBit_MSB,
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.SPI_CRCPolynomial = 7,
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.SPI_CPOL = SPI_CPOL_High,
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.SPI_CPHA = SPI_CPHA_2Edge,
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},
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.use_crc = true,
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.dma = {
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.irq = {
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// Note this is the stream ID that triggers interrupts (in this case RX)
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.flags = (DMA_IT_TCIF3 | DMA_IT_TEIF3 | DMA_IT_HTIF3),
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.init = {
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.NVIC_IRQChannel = DMA1_Stream3_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_Stream3,
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.init = {
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.DMA_Channel = DMA_Channel_0,
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.DMA_PeripheralBaseAddr = (uint32_t) & (SPI2->DR),
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.DMA_DIR = DMA_DIR_PeripheralToMemory,
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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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//TODO: Enable FIFO
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.DMA_FIFOMode = DMA_FIFOMode_Disable,
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.DMA_FIFOThreshold = DMA_FIFOThreshold_Full,
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.DMA_MemoryBurst = DMA_MemoryBurst_Single,
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.DMA_PeripheralBurst = DMA_PeripheralBurst_Single,
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},
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},
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.tx = {
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.channel = DMA1_Stream4,
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.init = {
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.DMA_Channel = DMA_Channel_0,
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.DMA_PeripheralBaseAddr = (uint32_t) & (SPI2->DR),
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.DMA_DIR = DMA_DIR_MemoryToPeripheral,
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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_FIFOMode = DMA_FIFOMode_Disable,
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.DMA_FIFOThreshold = DMA_FIFOThreshold_Full,
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.DMA_MemoryBurst = DMA_MemoryBurst_Single,
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.DMA_PeripheralBurst = DMA_PeripheralBurst_Single,
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},
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},
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},
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.sclk = {
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.gpio = GPIOB,
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.init = {
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.GPIO_Pin = GPIO_Pin_13,
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.GPIO_Speed = GPIO_Speed_100MHz,
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.GPIO_Mode = GPIO_Mode_AF,
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.GPIO_OType = GPIO_OType_PP,
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.GPIO_PuPd = GPIO_PuPd_NOPULL
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},
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},
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.miso = {
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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_Speed = GPIO_Speed_50MHz,
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.GPIO_Mode = GPIO_Mode_AF,
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.GPIO_OType = GPIO_OType_PP,
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.GPIO_PuPd = GPIO_PuPd_NOPULL
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},
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},
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.mosi = {
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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_Speed = GPIO_Speed_50MHz,
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.GPIO_Mode = GPIO_Mode_AF,
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.GPIO_OType = GPIO_OType_PP,
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.GPIO_PuPd = GPIO_PuPd_NOPULL
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},
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},
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.slave_count = 1,
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.ssel = { {
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.gpio = GPIOB,
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.init = {
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.GPIO_Pin = GPIO_Pin_12,
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.GPIO_Speed = GPIO_Speed_50MHz,
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.GPIO_Mode = GPIO_Mode_IN,
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.GPIO_OType = GPIO_OType_PP,
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.GPIO_PuPd = GPIO_PuPd_UP
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},
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} },
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};
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uint32_t pios_spi_op_id;
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void PIOS_SPI_op_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_op_id);
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}
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/* SPI1 Interface
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* - Used for BMA180 accelerometer
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*/
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void PIOS_SPI_accel_irq_handler(void);
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void DMA2_Stream0_IRQHandler(void) __attribute__((alias("PIOS_SPI_accel_irq_handler")));
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void DMA2_Stream3_IRQHandler(void) __attribute__((alias("PIOS_SPI_accel_irq_handler")));
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static const struct pios_spi_cfg pios_spi_accel_cfg = {
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.regs = SPI1,
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.remap = GPIO_AF_SPI1,
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.init = {
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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 = 7,
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.SPI_CPOL = SPI_CPOL_High,
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.SPI_CPHA = SPI_CPHA_2Edge,
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.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_4,
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},
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.use_crc = false,
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.dma = {
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.irq = {
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.flags = (DMA_IT_TCIF0 | DMA_IT_TEIF0 | DMA_IT_HTIF0),
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.init = {
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.NVIC_IRQChannel = DMA2_Stream0_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 = DMA2_Stream0,
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.init = {
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.DMA_Channel = DMA_Channel_3,
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.DMA_PeripheralBaseAddr = (uint32_t)&(SPI1->DR),
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.DMA_DIR = DMA_DIR_PeripheralToMemory,
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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_FIFOMode = DMA_FIFOMode_Disable,
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/* .DMA_FIFOThreshold */
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.DMA_MemoryBurst = DMA_MemoryBurst_Single,
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.DMA_PeripheralBurst = DMA_PeripheralBurst_Single,
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},
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},
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.tx = {
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.channel = DMA2_Stream3,
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.init = {
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.DMA_Channel = DMA_Channel_3,
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.DMA_PeripheralBaseAddr = (uint32_t)&(SPI1->DR),
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.DMA_DIR = DMA_DIR_MemoryToPeripheral,
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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_High,
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.DMA_FIFOMode = DMA_FIFOMode_Disable,
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/* .DMA_FIFOThreshold */
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.DMA_MemoryBurst = DMA_MemoryBurst_Single,
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.DMA_PeripheralBurst = DMA_PeripheralBurst_Single,
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},
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},
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},
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.sclk = {
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.gpio = GPIOA,
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.init = {
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.GPIO_Pin = GPIO_Pin_5,
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.GPIO_Speed = GPIO_Speed_100MHz,
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.GPIO_Mode = GPIO_Mode_AF,
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.GPIO_OType = GPIO_OType_PP,
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.GPIO_PuPd = GPIO_PuPd_UP
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},
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},
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.miso = {
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.gpio = GPIOA,
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.init = {
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.GPIO_Pin = GPIO_Pin_6,
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.GPIO_Speed = GPIO_Speed_50MHz,
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.GPIO_Mode = GPIO_Mode_AF,
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.GPIO_OType = GPIO_OType_PP,
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.GPIO_PuPd = GPIO_PuPd_UP
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},
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},
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.mosi = {
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.gpio = GPIOA,
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.init = {
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.GPIO_Pin = GPIO_Pin_7,
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.GPIO_Speed = GPIO_Speed_50MHz,
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.GPIO_Mode = GPIO_Mode_AF,
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.GPIO_OType = GPIO_OType_PP,
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.GPIO_PuPd = GPIO_PuPd_UP
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},
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},
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.slave_count = 1,
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.ssel = { {
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.gpio = GPIOA,
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.init = {
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.GPIO_Pin = GPIO_Pin_4,
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.GPIO_Speed = GPIO_Speed_50MHz,
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.GPIO_Mode = GPIO_Mode_OUT,
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.GPIO_OType = GPIO_OType_PP,
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.GPIO_PuPd = GPIO_PuPd_UP
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},
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} },
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};
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static uint32_t pios_spi_accel_id;
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void PIOS_SPI_accel_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_accel_id);
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}
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#endif /* PIOS_INCLUDE_SPI */
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#if defined(PIOS_INCLUDE_GPS)
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#include <pios_usart_priv.h>
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/*
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* GPS USART
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*/
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static const struct pios_usart_cfg pios_usart_gps_cfg = {
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.regs = USART1,
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.remap = GPIO_AF_USART1,
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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 =
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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 = USART1_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 = GPIOA,
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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,
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.GPIO_OType = GPIO_OType_PP,
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.GPIO_PuPd = GPIO_PuPd_UP
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},
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},
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.tx = {
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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_Speed = GPIO_Speed_2MHz,
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.GPIO_Mode = GPIO_Mode_AF,
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.GPIO_OType = GPIO_OType_PP,
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.GPIO_PuPd = GPIO_PuPd_UP
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},
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},
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};
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#define PIOS_COM_AUX_TX_BUF_LEN 255
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static uint8_t pios_com_aux_tx_buffer[PIOS_COM_AUX_TX_BUF_LEN];
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#define PIOS_COM_AUX_RX_BUF_LEN 255
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static uint8_t pios_com_aux_rx_buffer[PIOS_COM_AUX_RX_BUF_LEN];
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#endif /* PIOS_INCLUDE_GPS */
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#ifdef PIOS_INCLUDE_COM_AUX
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/*
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* AUX USART
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*/
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static const struct pios_usart_cfg pios_usart_aux_cfg = {
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.regs = UART4,
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.remap = GPIO_AF_UART4,
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.init = {
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.USART_BaudRate = 230400,
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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 =
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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 = UART4_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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.gpio = GPIOC,
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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_AF,
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.GPIO_OType = GPIO_OType_PP,
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.GPIO_PuPd = GPIO_PuPd_UP
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},
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},
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.tx = {
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.gpio = GPIOC,
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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,
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.GPIO_OType = GPIO_OType_PP,
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.GPIO_PuPd = GPIO_PuPd_UP
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},
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},
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};
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#define PIOS_COM_GPS_TX_BUF_LEN 192
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static uint8_t pios_com_gps_tx_buffer[PIOS_COM_GPS_TX_BUF_LEN];
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#define PIOS_COM_GPS_RX_BUF_LEN 96
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static uint8_t pios_com_gps_rx_buffer[PIOS_COM_GPS_RX_BUF_LEN];
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#endif /* PIOS_COM_AUX */
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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_I2C)
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#include <pios_i2c_priv.h>
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/*
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* I2C Adapters
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*/
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void PIOS_I2C_pres_mag_adapter_ev_irq_handler(void);
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void PIOS_I2C_pres_mag_adapter_er_irq_handler(void);
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void I2C1_EV_IRQHandler()
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__attribute__ ((alias("PIOS_I2C_pres_mag_adapter_ev_irq_handler")));
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void I2C1_ER_IRQHandler()
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__attribute__ ((alias("PIOS_I2C_pres_mag_adapter_er_irq_handler")));
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static const struct pios_i2c_adapter_cfg pios_i2c_pres_mag_adapter_cfg = {
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.regs = I2C1,
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.remap = GPIO_AF_I2C1,
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.init = {
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.I2C_Mode = I2C_Mode_I2C,
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.I2C_OwnAddress1 = 0,
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.I2C_Ack = I2C_Ack_Enable,
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.I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit,
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.I2C_DutyCycle = I2C_DutyCycle_2,
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.I2C_ClockSpeed = 400000, /* bits/s */
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},
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.transfer_timeout_ms = 50,
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.scl = {
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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_AF,
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.GPIO_Speed = GPIO_Speed_50MHz,
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.GPIO_OType = GPIO_OType_OD,
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.GPIO_PuPd = GPIO_PuPd_NOPULL,
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},
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},
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.sda = {
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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_AF,
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.GPIO_Speed = GPIO_Speed_50MHz,
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.GPIO_OType = GPIO_OType_OD,
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.GPIO_PuPd = GPIO_PuPd_NOPULL,
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},
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},
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.event = {
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.flags = 0, /* FIXME: check this */
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.init = {
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.NVIC_IRQChannel = I2C1_EV_IRQn,
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.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST,
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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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.error = {
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.flags = 0, /* FIXME: check this */
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.init = {
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.NVIC_IRQChannel = I2C1_ER_IRQn,
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.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST,
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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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uint32_t pios_i2c_pres_mag_adapter_id;
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void PIOS_I2C_pres_mag_adapter_ev_irq_handler(void)
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{
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/* Call into the generic code to handle the IRQ for this specific device */
|
|
PIOS_I2C_EV_IRQ_Handler(pios_i2c_pres_mag_adapter_id);
|
|
}
|
|
|
|
void PIOS_I2C_pres_mag_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_pres_mag_adapter_id);
|
|
}
|
|
|
|
|
|
void PIOS_I2C_gyro_adapter_ev_irq_handler(void);
|
|
void PIOS_I2C_gyro_adapter_er_irq_handler(void);
|
|
void I2C2_EV_IRQHandler() __attribute__ ((alias ("PIOS_I2C_gyro_adapter_ev_irq_handler")));
|
|
void I2C2_ER_IRQHandler() __attribute__ ((alias ("PIOS_I2C_gyro_adapter_er_irq_handler")));
|
|
|
|
static const struct pios_i2c_adapter_cfg pios_i2c_gyro_adapter_cfg = {
|
|
.regs = I2C2,
|
|
.remap = GPIO_AF_I2C2,
|
|
.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_10,
|
|
.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_11,
|
|
.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 = I2C2_EV_IRQn,
|
|
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST,
|
|
.NVIC_IRQChannelSubPriority = 0,
|
|
.NVIC_IRQChannelCmd = ENABLE,
|
|
},
|
|
},
|
|
.error = {
|
|
.flags = 0, /* FIXME: check this */
|
|
.init = {
|
|
.NVIC_IRQChannel = I2C2_ER_IRQn,
|
|
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST,
|
|
.NVIC_IRQChannelSubPriority = 0,
|
|
.NVIC_IRQChannelCmd = ENABLE,
|
|
},
|
|
},
|
|
};
|
|
|
|
uint32_t pios_i2c_gyro_adapter_id;
|
|
void PIOS_I2C_gyro_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_gyro_adapter_id);
|
|
}
|
|
|
|
void PIOS_I2C_gyro_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_gyro_adapter_id);
|
|
}
|
|
|
|
#endif /* PIOS_INCLUDE_I2C */
|
|
|
|
|
|
extern const struct pios_com_driver pios_usart_com_driver;
|
|
|
|
uint32_t pios_com_aux_id;
|
|
uint32_t pios_com_gps_id;
|
|
|
|
|
|
/**
|
|
* Sensor configurations
|
|
*/
|
|
#include "pios_hmc5883.h"
|
|
static const struct pios_hmc5883_cfg pios_hmc5883_cfg = {
|
|
.drdy = {
|
|
.gpio = GPIOB,
|
|
.init = {
|
|
.GPIO_Pin = GPIO_Pin_8,
|
|
.GPIO_Speed = GPIO_Speed_100MHz,
|
|
.GPIO_Mode = GPIO_Mode_IN,
|
|
.GPIO_OType = GPIO_OType_OD,
|
|
.GPIO_PuPd = GPIO_PuPd_NOPULL,
|
|
},
|
|
},
|
|
.eoc_exti = {
|
|
.pin_source = EXTI_PinSource8,
|
|
.port_source = EXTI_PortSourceGPIOB,
|
|
.init = {
|
|
.EXTI_Line = EXTI_Line8, // matches above GPIO pin
|
|
.EXTI_Mode = EXTI_Mode_Interrupt,
|
|
.EXTI_Trigger = EXTI_Trigger_Rising,
|
|
.EXTI_LineCmd = ENABLE,
|
|
},
|
|
},
|
|
.eoc_irq = {
|
|
.init = {
|
|
.NVIC_IRQChannel = EXTI9_5_IRQn,
|
|
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW,
|
|
.NVIC_IRQChannelSubPriority = 0,
|
|
.NVIC_IRQChannelCmd = ENABLE,
|
|
},
|
|
},
|
|
.M_ODR = PIOS_HMC5883_ODR_75,
|
|
.Meas_Conf = PIOS_HMC5883_MEASCONF_NORMAL,
|
|
.Gain = PIOS_HMC5883_GAIN_1_9,
|
|
.Mode = PIOS_HMC5883_MODE_CONTINUOUS,
|
|
|
|
};
|
|
|
|
#include "pios_bma180.h"
|
|
static const struct pios_bma180_cfg pios_bma180_cfg = {
|
|
.drdy = {
|
|
.gpio = GPIOC,
|
|
.init = {
|
|
.GPIO_Pin = GPIO_Pin_4,
|
|
.GPIO_Speed = GPIO_Speed_100MHz,
|
|
.GPIO_Mode = GPIO_Mode_IN,
|
|
.GPIO_OType = GPIO_OType_OD,
|
|
.GPIO_PuPd = GPIO_PuPd_NOPULL,
|
|
},
|
|
},
|
|
.eoc_exti = {
|
|
.pin_source = EXTI_PinSource4,
|
|
.port_source = EXTI_PortSourceGPIOC,
|
|
.init = {
|
|
.EXTI_Line = EXTI_Line4, // matches above GPIO pin
|
|
.EXTI_Mode = EXTI_Mode_Interrupt,
|
|
.EXTI_Trigger = EXTI_Trigger_Rising,
|
|
.EXTI_LineCmd = ENABLE,
|
|
},
|
|
},
|
|
.eoc_irq = {
|
|
.init = {
|
|
.NVIC_IRQChannel = EXTI4_IRQn,
|
|
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW,
|
|
.NVIC_IRQChannelSubPriority = 0,
|
|
.NVIC_IRQChannelCmd = ENABLE,
|
|
},
|
|
},
|
|
};
|
|
|
|
#include "pios_imu3000.h"
|
|
static const struct pios_imu3000_cfg pios_imu3000_cfg = {
|
|
.drdy = {
|
|
.gpio = GPIOB,
|
|
.init = {
|
|
.GPIO_Pin = GPIO_Pin_1,
|
|
.GPIO_Speed = GPIO_Speed_100MHz,
|
|
.GPIO_Mode = GPIO_Mode_IN,
|
|
.GPIO_OType = GPIO_OType_OD,
|
|
.GPIO_PuPd = GPIO_PuPd_NOPULL,
|
|
},
|
|
},
|
|
.eoc_exti = {
|
|
.pin_source = EXTI_PinSource1,
|
|
.port_source = EXTI_PortSourceGPIOB,
|
|
.init = {
|
|
.EXTI_Line = EXTI_Line1, // matches above GPIO pin
|
|
.EXTI_Mode = EXTI_Mode_Interrupt,
|
|
.EXTI_Trigger = EXTI_Trigger_Rising,
|
|
.EXTI_LineCmd = ENABLE,
|
|
},
|
|
},
|
|
.eoc_irq = {
|
|
.init = {
|
|
.NVIC_IRQChannel = EXTI1_IRQn,
|
|
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
|
|
.NVIC_IRQChannelSubPriority = 0,
|
|
.NVIC_IRQChannelCmd = ENABLE,
|
|
},
|
|
},
|
|
.Fifo_store = PIOS_IMU3000_FIFO_TEMP_OUT | PIOS_IMU3000_FIFO_GYRO_X_OUT | PIOS_IMU3000_FIFO_GYRO_Y_OUT
|
|
| PIOS_IMU3000_FIFO_GYRO_Z_OUT | PIOS_IMU3000_FIFO_FOOTER,
|
|
// Clock at 8 khz, downsampled by 4 for 2khz
|
|
.Smpl_rate_div = 7,
|
|
.Interrupt_cfg = PIOS_IMU3000_INT_DATA_RDY | PIOS_IMU3000_INT_CLR_ANYRD,
|
|
.User_ctl = PIOS_IMU3000_USERCTL_FIFO_EN,
|
|
.Pwr_mgmt_clk = PIOS_IMU3000_PWRMGMT_PLL_X_CLK,
|
|
.range = PIOS_IMU3000_SCALE_500_DEG,
|
|
.filter = PIOS_IMU3000_LOWPASS_256_HZ
|
|
|
|
};
|
|
|
|
#include "pios_bmp085.h"
|
|
static const struct pios_bmp085_cfg pios_bmp085_cfg = {
|
|
.drdy = {
|
|
.gpio = GPIOC,
|
|
.init = {
|
|
.GPIO_Pin = GPIO_Pin_2,
|
|
.GPIO_Speed = GPIO_Speed_100MHz,
|
|
.GPIO_Mode = GPIO_Mode_IN,
|
|
.GPIO_OType = GPIO_OType_OD,
|
|
.GPIO_PuPd = GPIO_PuPd_NOPULL,
|
|
},
|
|
},
|
|
.eoc_exti = {
|
|
.pin_source = EXTI_PinSource2,
|
|
.port_source = EXTI_PortSourceGPIOC,
|
|
.init = {
|
|
.EXTI_Line = EXTI_Line2, // matches above GPIO pin
|
|
.EXTI_Mode = EXTI_Mode_Interrupt,
|
|
.EXTI_Trigger = EXTI_Trigger_Rising,
|
|
.EXTI_LineCmd = ENABLE,
|
|
},
|
|
},
|
|
.eoc_irq = {
|
|
.init = {
|
|
.NVIC_IRQChannel = EXTI2_IRQn,
|
|
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW,
|
|
.NVIC_IRQChannelSubPriority = 0,
|
|
.NVIC_IRQChannelCmd = ENABLE,
|
|
},
|
|
},
|
|
.xclr = {
|
|
.gpio = GPIOC,
|
|
.init = {
|
|
.GPIO_Pin = GPIO_Pin_1,
|
|
.GPIO_Speed = GPIO_Speed_100MHz,
|
|
.GPIO_Mode = GPIO_Mode_OUT,
|
|
.GPIO_OType = GPIO_OType_PP,
|
|
.GPIO_PuPd = GPIO_PuPd_NOPULL,
|
|
},
|
|
},
|
|
.oversampling = 3,
|
|
};
|
|
|
|
/**
|
|
* PIOS_Board_Init()
|
|
* initializes all the core subsystems on this specific hardware
|
|
* called from System/openpilot.c
|
|
*/
|
|
void PIOS_Board_Init(void) {
|
|
/* Brings up System using CMSIS functions, enables the LEDs. */
|
|
PIOS_SYS_Init();
|
|
|
|
/* Delay system */
|
|
PIOS_DELAY_Init();
|
|
|
|
/* IAP System Setup */
|
|
PIOS_IAP_Init();
|
|
|
|
#if defined(PIOS_INCLUDE_COM)
|
|
#if defined(PIOS_INCLUDE_GPS)
|
|
uint32_t pios_usart_gps_id;
|
|
if (PIOS_USART_Init(&pios_usart_gps_id, &pios_usart_gps_cfg)) {
|
|
PIOS_DEBUG_Assert(0);
|
|
}
|
|
if (PIOS_COM_Init(&pios_com_gps_id, &pios_usart_com_driver, pios_usart_gps_id,
|
|
pios_com_gps_rx_buffer, sizeof(pios_com_gps_rx_buffer),
|
|
pios_com_gps_tx_buffer, sizeof(pios_com_gps_tx_buffer))) {
|
|
PIOS_DEBUG_Assert(0);
|
|
}
|
|
#endif /* PIOS_INCLUDE_GPS */
|
|
|
|
#if defined(PIOS_INCLUDE_COM_AUX)
|
|
uint32_t pios_usart_aux_id;
|
|
|
|
if (PIOS_USART_Init(&pios_usart_aux_id, &pios_usart_aux_cfg)) {
|
|
PIOS_DEBUG_Assert(0);
|
|
}
|
|
if (PIOS_COM_Init(&pios_com_aux_id, &pios_usart_com_driver, pios_usart_aux_id,
|
|
pios_com_aux_rx_buffer, sizeof(pios_com_aux_rx_buffer),
|
|
pios_com_aux_tx_buffer, sizeof(pios_com_aux_tx_buffer))) {
|
|
PIOS_DEBUG_Assert(0);
|
|
}
|
|
#endif /* PIOS_INCLUDE_COM_AUX */
|
|
#endif /* PIOS_INCLUDE_COM */
|
|
|
|
if (PIOS_I2C_Init(&pios_i2c_pres_mag_adapter_id, &pios_i2c_pres_mag_adapter_cfg)) {
|
|
PIOS_DEBUG_Assert(0);
|
|
}
|
|
|
|
if (PIOS_I2C_Init(&pios_i2c_gyro_adapter_id, &pios_i2c_gyro_adapter_cfg)) {
|
|
PIOS_DEBUG_Assert(0);
|
|
}
|
|
/* Set up the SPI interface to the accelerometer*/
|
|
if (PIOS_SPI_Init(&pios_spi_accel_id, &pios_spi_accel_cfg)) {
|
|
PIOS_DEBUG_Assert(0);
|
|
}
|
|
PIOS_BMA180_Attach(pios_spi_accel_id);
|
|
PIOS_BMA180_Init(&pios_bma180_cfg);
|
|
PIOS_IMU3000_Init(&pios_imu3000_cfg);
|
|
PIOS_HMC5883_Init(&pios_hmc5883_cfg);
|
|
PIOS_BMP085_Init(&pios_bmp085_cfg);
|
|
|
|
|
|
/* Set up the SPI interface to the OP board */
|
|
#include "ahrs_spi_comm.h"
|
|
AhrsInitComms();
|
|
if (PIOS_SPI_Init(&pios_spi_op_id, &pios_spi_op_cfg)) {
|
|
PIOS_DEBUG_Assert(0);
|
|
}
|
|
|
|
AhrsConnect(pios_spi_op_id);
|
|
}
|
|
|
|
/**
|
|
* @}
|
|
* @}
|
|
*/
|
|
|