mirror of
https://bitbucket.org/librepilot/librepilot.git
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974 lines
34 KiB
C
974 lines
34 KiB
C
/**
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******************************************************************************
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* @addtogroup OpenPilotSystem OpenPilot System
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* @{
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* @addtogroup OpenPilotCore OpenPilot Core
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* @{
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*
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* @file board_hw_defs.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
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* @brief Defines board specific static initializers for hardware for the OpenPilot 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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#if defined(PIOS_INCLUDE_LED)
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#include <pios_led_priv.h>
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static const struct pios_gpio pios_leds[] = {
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[PIOS_LED_HEARTBEAT] = {
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.pin = {
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.gpio = GPIOB,
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.init = {
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.GPIO_Pin = GPIO_Pin_0,
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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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.active_low = true
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},
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[PIOS_LED_ALARM] = {
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.pin = {
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.gpio = GPIOC,
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.init = {
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.GPIO_Pin = GPIO_Pin_5,
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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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.active_low = true
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},
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};
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static const struct pios_gpio_cfg pios_led_cfg = {
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.gpios = pios_leds,
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.num_gpios = NELEMENTS(pios_leds),
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};
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const struct pios_gpio_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_FLASH)
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#include "pios_flashfs_logfs_priv.h"
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#include "pios_flash_internal_priv.h"
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static const struct pios_flash_internal_cfg flash_internal_cfg = {};
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static const struct flashfs_logfs_cfg flashfs_internal_cfg = {
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.fs_magic = 0x99abcfef,
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.total_fs_size = EE_BANK_SIZE, /* 32K bytes (2x16KB sectors) */
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.arena_size = 0x00004000, /* 64 * slot size = 16K bytes = 1 sector */
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.slot_size = 0x00000100, /* 256 bytes */
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.start_offset = EE_BANK_BASE, /* start after the bootloader */
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.sector_size = 0x00004000, /* 16K bytes */
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.page_size = 0x00004000, /* 16K bytes */
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};
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#include "pios_flash.h"
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#endif /* PIOS_INCLUDE_FLASH */
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#if defined(PIOS_INCLUDE_SPI)
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#include <pios_spi_priv.h>
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/* MicroSD 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_sdcard_irq_handler(void);
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void DMA1_Channel2_IRQHandler() __attribute__((alias("PIOS_SPI_sdcard_irq_handler")));
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void DMA1_Channel3_IRQHandler() __attribute__((alias("PIOS_SPI_sdcard_irq_handler")));
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static const struct pios_spi_cfg pios_spi_sdcard_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_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_16, /* Maximum divider (ie. slowest clock rate) */
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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_TCIF3 | DMA_IT_TEIF3 | DMA_IT_HTIF3 | DMA_IT_TCIF3),
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.init = {
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.NVIC_IRQChannel = DMA1_Stream3_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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.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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.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_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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.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_UP
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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_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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{
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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_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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};
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static uint32_t pios_spi_sdcard_id;
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void PIOS_SPI_sdcard_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_sdcard_id);
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}
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#endif /* if defined(PIOS_INCLUDE_SPI) */
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#include <pios_usart_priv.h>
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#if defined(PIOS_INCLUDE_GPS)
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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_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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.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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#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 = USART2,
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.remap = GPIO_AF_USART2,
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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 = USART2_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_3,
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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_2,
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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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#endif /* PIOS_COM_AUX */
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#ifdef PIOS_INCLUDE_COM_TELEM
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/*
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* Telemetry on main USART
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*/
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static const struct pios_usart_cfg pios_usart_telem_main_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 = 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 = UART4_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_1,
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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_0,
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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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#endif /* PIOS_COM_TELEM */
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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_flexiport_adapter_ev_irq_handler(void);
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void PIOS_I2C_flexiport_adapter_er_irq_handler(void);
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void I2C2_EV_IRQHandler() __attribute__((alias("PIOS_I2C_flexiport_adapter_ev_irq_handler")));
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void I2C2_ER_IRQHandler() __attribute__((alias("PIOS_I2C_flexiport_adapter_er_irq_handler")));
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static const struct pios_i2c_adapter_cfg pios_i2c_flexiport_adapter_cfg = {
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.regs = I2C2,
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.remapSDA = GPIO_AF_I2C2,
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.remapSCL = GPIO_AF_I2C2,
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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_10,
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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_UP,
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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_11,
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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_UP,
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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 = I2C2_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 = I2C2_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_flexiport_adapter_id;
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void PIOS_I2C_flexiport_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 */
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PIOS_I2C_EV_IRQ_Handler(pios_i2c_flexiport_adapter_id);
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}
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void PIOS_I2C_flexiport_adapter_er_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_I2C_ER_IRQ_Handler(pios_i2c_flexiport_adapter_id);
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}
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#endif /* if defined(PIOS_INCLUDE_I2C) */
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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_WKUP_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_Div8, // Divide 8 Mhz crystal down to 1
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// For some reason it's acting like crystal is 16 Mhz. This clock is then divided
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// by another 16 to give a nominal 62.5 khz clock
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.prescaler = 100, // Every 100 cycles gives 625 Hz
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.irq = {
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.init = {
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.NVIC_IRQChannel = RTC_WKUP_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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|
};
|
|
|
|
void PIOS_RTC_IRQ_Handler(void)
|
|
{
|
|
PIOS_RTC_irq_handler();
|
|
}
|
|
|
|
#endif /* if defined(PIOS_INCLUDE_RTC) */
|
|
|
|
|
|
#if defined(PIOS_INCLUDE_USB)
|
|
#include "pios_usb_priv.h"
|
|
|
|
static const struct pios_usb_cfg pios_usb_main_cfg = {
|
|
.irq = {
|
|
.init = {
|
|
.NVIC_IRQChannel = OTG_FS_IRQn,
|
|
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
|
|
.NVIC_IRQChannelSubPriority = 0,
|
|
.NVIC_IRQChannelCmd = ENABLE,
|
|
},
|
|
},
|
|
.vsense = {
|
|
.gpio = GPIOA,
|
|
.init = {
|
|
.GPIO_Pin = GPIO_Pin_15,
|
|
.GPIO_Speed = GPIO_Speed_25MHz,
|
|
.GPIO_Mode = GPIO_Mode_IN,
|
|
.GPIO_OType = GPIO_OType_OD,
|
|
},
|
|
},
|
|
.vsense_active_low = false
|
|
};
|
|
|
|
#include "pios_usb_board_data_priv.h"
|
|
#include "pios_usb_desc_hid_cdc_priv.h"
|
|
#include "pios_usb_desc_hid_only_priv.h"
|
|
#include "pios_usbhook.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_VIDEO)
|
|
|
|
static const TIM_TimeBaseInitTypeDef tim_8_time_base = {
|
|
.TIM_Prescaler = (PIOS_PERIPHERAL_APB2_CLOCK / 1000000) - 1,
|
|
.TIM_ClockDivision = TIM_CKD_DIV1,
|
|
.TIM_CounterMode = TIM_CounterMode_Up,
|
|
.TIM_Period = ((1000000 / 50000) - 1),
|
|
.TIM_RepetitionCounter = 0x0000,
|
|
};
|
|
|
|
static const struct pios_tim_clock_cfg tim_8_cfg = {
|
|
.timer = TIM8,
|
|
.time_base_init = &tim_8_time_base,
|
|
.irq = {
|
|
.init = {
|
|
.NVIC_IRQChannel = TIM8_CC_IRQn,
|
|
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
|
|
.NVIC_IRQChannelSubPriority = 0,
|
|
.NVIC_IRQChannelCmd = ENABLE,
|
|
},
|
|
},
|
|
};
|
|
|
|
/**
|
|
* Pios servo configuration structures
|
|
*/
|
|
#include <pios_servo_priv.h>
|
|
static const struct pios_tim_channel pios_tim_servoport_all_pins[] = {
|
|
{
|
|
.timer = TIM8,
|
|
.timer_chan = TIM_Channel_3,
|
|
.pin = {
|
|
.gpio = GPIOC,
|
|
.init = {
|
|
.GPIO_Pin = GPIO_Pin_8,
|
|
.GPIO_Speed = GPIO_Speed_2MHz,
|
|
.GPIO_Mode = GPIO_Mode_AF,
|
|
.GPIO_OType = GPIO_OType_PP,
|
|
.GPIO_PuPd = GPIO_PuPd_UP
|
|
},
|
|
.pin_source = GPIO_PinSource8,
|
|
},
|
|
.remap = GPIO_AF_TIM8,
|
|
},
|
|
{
|
|
.timer = TIM8,
|
|
.timer_chan = TIM_Channel_4,
|
|
.pin = {
|
|
.gpio = GPIOC,
|
|
.init = {
|
|
.GPIO_Pin = GPIO_Pin_9,
|
|
.GPIO_Speed = GPIO_Speed_2MHz,
|
|
.GPIO_Mode = GPIO_Mode_AF,
|
|
.GPIO_OType = GPIO_OType_PP,
|
|
.GPIO_PuPd = GPIO_PuPd_UP
|
|
},
|
|
.pin_source = GPIO_PinSource9,
|
|
},
|
|
.remap = GPIO_AF_TIM8,
|
|
},
|
|
};
|
|
|
|
const struct pios_servo_cfg pios_servo_cfg = {
|
|
.tim_oc_init = {
|
|
.TIM_OCMode = TIM_OCMode_PWM1,
|
|
.TIM_OutputState = TIM_OutputState_Enable,
|
|
.TIM_OutputNState = TIM_OutputNState_Disable,
|
|
.TIM_Pulse = 0,
|
|
.TIM_OCPolarity = TIM_OCPolarity_High,
|
|
.TIM_OCNPolarity = TIM_OCPolarity_High,
|
|
.TIM_OCIdleState = TIM_OCIdleState_Reset,
|
|
.TIM_OCNIdleState = TIM_OCNIdleState_Reset,
|
|
},
|
|
.channels = pios_tim_servoport_all_pins,
|
|
.num_channels = NELEMENTS(pios_tim_servoport_all_pins),
|
|
};
|
|
|
|
|
|
#include <pios_video.h>
|
|
static const struct pios_exti_cfg pios_exti_hsync_cfg __exti_config = {
|
|
.vector = PIOS_Hsync_ISR,
|
|
.line = EXTI_Line7,
|
|
.pin = {
|
|
.gpio = GPIOB,
|
|
.init = {
|
|
.GPIO_Pin = GPIO_Pin_7,
|
|
.GPIO_Speed = GPIO_Speed_100MHz,
|
|
.GPIO_Mode = GPIO_Mode_IN,
|
|
.GPIO_OType = GPIO_OType_OD,
|
|
.GPIO_PuPd = GPIO_PuPd_NOPULL,
|
|
},
|
|
},
|
|
.irq = {
|
|
.init = {
|
|
.NVIC_IRQChannel = EXTI9_5_IRQn,
|
|
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
|
|
.NVIC_IRQChannelSubPriority = 0,
|
|
.NVIC_IRQChannelCmd = ENABLE,
|
|
},
|
|
},
|
|
.exti = {
|
|
.init = {
|
|
.EXTI_Line = EXTI_Line7, // matches above GPIO pin
|
|
.EXTI_Mode = EXTI_Mode_Interrupt,
|
|
// .EXTI_Trigger = EXTI_Trigger_Rising_Falling,
|
|
.EXTI_Trigger = EXTI_Trigger_Falling,
|
|
// .EXTI_Trigger = EXTI_Trigger_Rising,
|
|
.EXTI_LineCmd = ENABLE,
|
|
},
|
|
},
|
|
};
|
|
static const struct pios_exti_cfg pios_exti_vsync_cfg __exti_config = {
|
|
.vector = PIOS_Vsync_ISR,
|
|
.line = EXTI_Line5,
|
|
.pin = {
|
|
.gpio = GPIOB,
|
|
.init = {
|
|
.GPIO_Pin = GPIO_Pin_5,
|
|
.GPIO_Speed = GPIO_Speed_100MHz,
|
|
.GPIO_Mode = GPIO_Mode_IN,
|
|
.GPIO_OType = GPIO_OType_OD,
|
|
.GPIO_PuPd = GPIO_PuPd_NOPULL,
|
|
},
|
|
},
|
|
.irq = {
|
|
.init = {
|
|
.NVIC_IRQChannel = EXTI9_5_IRQn,
|
|
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
|
|
.NVIC_IRQChannelSubPriority = 0,
|
|
.NVIC_IRQChannelCmd = ENABLE,
|
|
},
|
|
},
|
|
.exti = {
|
|
.init = {
|
|
.EXTI_Line = EXTI_Line5, // matches above GPIO pin
|
|
.EXTI_Mode = EXTI_Mode_Interrupt,
|
|
.EXTI_Trigger = EXTI_Trigger_Falling,
|
|
.EXTI_LineCmd = ENABLE,
|
|
},
|
|
},
|
|
};
|
|
|
|
|
|
static const struct pios_video_cfg pios_video_cfg = {
|
|
.mask = {
|
|
.regs = SPI3,
|
|
.remap = GPIO_AF_SPI3,
|
|
.init = {
|
|
.SPI_Mode = SPI_Mode_Slave,
|
|
.SPI_Direction = SPI_Direction_1Line_Tx,
|
|
.SPI_DataSize = SPI_DataSize_8b,
|
|
.SPI_NSS = SPI_NSS_Soft,
|
|
.SPI_FirstBit = SPI_FirstBit_MSB,
|
|
.SPI_CRCPolynomial = 7,
|
|
.SPI_CPOL = SPI_CPOL_Low,
|
|
.SPI_CPHA = SPI_CPHA_2Edge,
|
|
.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_2,
|
|
},
|
|
.use_crc = false,
|
|
.dma = {
|
|
.irq = {
|
|
// Note this is the stream ID that triggers interrupts (in this case RX)
|
|
.flags = (DMA_IT_TCIF7),
|
|
.init = {
|
|
.NVIC_IRQChannel = DMA1_Stream7_IRQn,
|
|
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
|
|
.NVIC_IRQChannelSubPriority = 0,
|
|
.NVIC_IRQChannelCmd = ENABLE,
|
|
},
|
|
},
|
|
/*.rx = {},*/
|
|
.tx = {
|
|
.channel = DMA1_Stream7,
|
|
.init = {
|
|
.DMA_Channel = DMA_Channel_0,
|
|
.DMA_PeripheralBaseAddr = (uint32_t)&(SPI3->DR),
|
|
.DMA_DIR = DMA_DIR_MemoryToPeripheral,
|
|
.DMA_BufferSize = BUFFER_LINE_LENGTH,
|
|
.DMA_PeripheralInc = DMA_PeripheralInc_Disable,
|
|
.DMA_MemoryInc = DMA_MemoryInc_Enable,
|
|
.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
|
|
.DMA_MemoryDataSize = DMA_MemoryDataSize_Word,
|
|
.DMA_Mode = DMA_Mode_Normal,
|
|
.DMA_Priority = DMA_Priority_VeryHigh,
|
|
.DMA_FIFOMode = DMA_FIFOMode_Enable,
|
|
.DMA_FIFOThreshold = DMA_FIFOThreshold_Full,
|
|
.DMA_MemoryBurst = DMA_MemoryBurst_INC4,
|
|
.DMA_PeripheralBurst = DMA_PeripheralBurst_Single,
|
|
},
|
|
},
|
|
},
|
|
.sclk = {
|
|
.gpio = GPIOC,
|
|
.init = {
|
|
.GPIO_Pin = GPIO_Pin_10,
|
|
.GPIO_Speed = GPIO_Speed_100MHz,
|
|
.GPIO_Mode = GPIO_Mode_AF,
|
|
.GPIO_OType = GPIO_OType_PP,
|
|
.GPIO_PuPd = GPIO_PuPd_NOPULL
|
|
},
|
|
},
|
|
.miso = {
|
|
.gpio = GPIOC,
|
|
.init = {
|
|
.GPIO_Pin = GPIO_Pin_11,
|
|
.GPIO_Speed = GPIO_Speed_50MHz,
|
|
.GPIO_Mode = GPIO_Mode_AF,
|
|
.GPIO_OType = GPIO_OType_PP,
|
|
.GPIO_PuPd = GPIO_PuPd_NOPULL
|
|
},
|
|
},
|
|
/*.mosi = {},*/
|
|
.slave_count = 1,
|
|
},
|
|
.level = {
|
|
.regs = SPI1,
|
|
.remap = GPIO_AF_SPI1,
|
|
.init = {
|
|
.SPI_Mode = SPI_Mode_Slave,
|
|
.SPI_Direction = SPI_Direction_1Line_Tx,
|
|
.SPI_DataSize = SPI_DataSize_8b,
|
|
.SPI_NSS = SPI_NSS_Soft,
|
|
.SPI_FirstBit = SPI_FirstBit_MSB,
|
|
.SPI_CRCPolynomial = 7,
|
|
.SPI_CPOL = SPI_CPOL_Low,
|
|
.SPI_CPHA = SPI_CPHA_2Edge,
|
|
.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_2,
|
|
},
|
|
.use_crc = false,
|
|
.dma = {
|
|
.irq = {
|
|
.flags = (DMA_IT_TCIF5),
|
|
.init = {
|
|
.NVIC_IRQChannel = DMA2_Stream5_IRQn,
|
|
.NVIC_IRQChannelPreemptionPriority = 0,
|
|
.NVIC_IRQChannelSubPriority = 0,
|
|
.NVIC_IRQChannelCmd = ENABLE,
|
|
},
|
|
},
|
|
/*.rx = {},*/
|
|
.tx = {
|
|
.channel = DMA2_Stream5,
|
|
.init = {
|
|
.DMA_Channel = DMA_Channel_3,
|
|
.DMA_PeripheralBaseAddr = (uint32_t)&(SPI1->DR),
|
|
.DMA_DIR = DMA_DIR_MemoryToPeripheral,
|
|
.DMA_BufferSize = BUFFER_LINE_LENGTH,
|
|
.DMA_PeripheralInc = DMA_PeripheralInc_Disable,
|
|
.DMA_MemoryInc = DMA_MemoryInc_Enable,
|
|
.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
|
|
.DMA_MemoryDataSize = DMA_MemoryDataSize_Word,
|
|
.DMA_Mode = DMA_Mode_Normal,
|
|
.DMA_Priority = DMA_Priority_VeryHigh,
|
|
.DMA_FIFOMode = DMA_FIFOMode_Enable,
|
|
.DMA_FIFOThreshold = DMA_FIFOThreshold_Full,
|
|
.DMA_MemoryBurst = DMA_MemoryBurst_INC4,
|
|
.DMA_PeripheralBurst = DMA_PeripheralBurst_Single,
|
|
},
|
|
},
|
|
},
|
|
.sclk = {
|
|
.gpio = GPIOB,
|
|
.init = {
|
|
.GPIO_Pin = GPIO_Pin_3,
|
|
.GPIO_Speed = GPIO_Speed_100MHz,
|
|
.GPIO_Mode = GPIO_Mode_AF,
|
|
.GPIO_OType = GPIO_OType_PP,
|
|
.GPIO_PuPd = GPIO_PuPd_UP
|
|
},
|
|
},
|
|
.miso = {
|
|
.gpio = GPIOB,
|
|
.init = {
|
|
.GPIO_Pin = GPIO_Pin_4,
|
|
.GPIO_Speed = GPIO_Speed_50MHz,
|
|
.GPIO_Mode = GPIO_Mode_AF,
|
|
.GPIO_OType = GPIO_OType_PP,
|
|
.GPIO_PuPd = GPIO_PuPd_UP
|
|
},
|
|
},
|
|
/*.mosi = {},*/
|
|
.slave_count = 1,
|
|
},
|
|
|
|
.hsync = &pios_exti_hsync_cfg,
|
|
.vsync = &pios_exti_vsync_cfg,
|
|
|
|
.pixel_timer = {
|
|
.timer = TIM4,
|
|
.timer_chan = TIM_Channel_1,
|
|
.pin = {
|
|
.gpio = GPIOB,
|
|
.init = {
|
|
.GPIO_Pin = GPIO_Pin_6,
|
|
.GPIO_Speed = GPIO_Speed_100MHz,
|
|
.GPIO_Mode = GPIO_Mode_AF,
|
|
.GPIO_OType = GPIO_OType_PP,
|
|
.GPIO_PuPd = GPIO_PuPd_UP
|
|
},
|
|
.pin_source = GPIO_PinSource6,
|
|
},
|
|
.remap = GPIO_AF_TIM4,
|
|
},
|
|
.hsync_capture = {
|
|
.timer = TIM4,
|
|
.timer_chan = TIM_Channel_2,
|
|
.pin = {
|
|
.gpio = GPIOB,
|
|
.init = {
|
|
.GPIO_Pin = GPIO_Pin_7,
|
|
.GPIO_Speed = GPIO_Speed_100MHz,
|
|
.GPIO_Mode = GPIO_Mode_AF,
|
|
.GPIO_OType = GPIO_OType_PP,
|
|
.GPIO_PuPd = GPIO_PuPd_UP
|
|
},
|
|
.pin_source = GPIO_PinSource7,
|
|
},
|
|
.remap = GPIO_AF_TIM4,
|
|
},
|
|
.tim_oc_init = {
|
|
.TIM_OCMode = TIM_OCMode_PWM1,
|
|
.TIM_OutputState = TIM_OutputState_Enable,
|
|
.TIM_OutputNState = TIM_OutputNState_Disable,
|
|
.TIM_Pulse = 1,
|
|
.TIM_OCPolarity = TIM_OCPolarity_High,
|
|
.TIM_OCNPolarity = TIM_OCPolarity_High,
|
|
.TIM_OCIdleState = TIM_OCIdleState_Reset,
|
|
.TIM_OCNIdleState = TIM_OCNIdleState_Reset,
|
|
},
|
|
};
|
|
|
|
#endif /* if defined(PIOS_INCLUDE_VIDEO) */
|
|
|
|
#if defined(PIOS_INCLUDE_WAVE)
|
|
#include <pios_wavplay.h>
|
|
#include <pios_tim_priv.h>
|
|
|
|
static const TIM_TimeBaseInitTypeDef tim_6_time_base = {
|
|
.TIM_Prescaler = 0,
|
|
.TIM_ClockDivision = TIM_CKD_DIV1,
|
|
.TIM_CounterMode = TIM_CounterMode_Up,
|
|
.TIM_Period = (PIOS_PERIPHERAL_APB1_CLOCK / 44100),
|
|
.TIM_RepetitionCounter = 0x0000,
|
|
};
|
|
|
|
static const struct pios_tim_clock_cfg tim_6_cfg = {
|
|
.timer = TIM6,
|
|
.time_base_init = &tim_6_time_base,
|
|
.irq = {
|
|
.init = {
|
|
.NVIC_IRQChannel = TIM6_DAC_IRQn,
|
|
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
|
|
.NVIC_IRQChannelSubPriority = 0,
|
|
.NVIC_IRQChannelCmd = ENABLE,
|
|
},
|
|
},
|
|
};
|
|
|
|
static const struct pios_dac_cfg pios_dac_cfg = {
|
|
.timer = TIM6,
|
|
.time_base_init = {
|
|
.TIM_Prescaler = 0,
|
|
.TIM_ClockDivision = TIM_CKD_DIV1,
|
|
.TIM_CounterMode = TIM_CounterMode_Up,
|
|
.TIM_Period = (PIOS_PERIPHERAL_APB1_CLOCK / 44100),
|
|
.TIM_RepetitionCounter = 0x0000,
|
|
},
|
|
.irq = {
|
|
.init = {
|
|
.NVIC_IRQChannel = TIM6_DAC_IRQn,
|
|
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW,
|
|
.NVIC_IRQChannelSubPriority = 0,
|
|
.NVIC_IRQChannelCmd = ENABLE,
|
|
},
|
|
},
|
|
.dma = {
|
|
.irq = {
|
|
// Note this is the stream ID that triggers interrupts (in this case RX)
|
|
.flags = (DMA_IT_TCIF5),
|
|
.init = {
|
|
.NVIC_IRQChannel = DMA1_Stream5_IRQn,
|
|
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW,
|
|
.NVIC_IRQChannelSubPriority = 0,
|
|
.NVIC_IRQChannelCmd = ENABLE,
|
|
},
|
|
},
|
|
|
|
.rx = {},
|
|
.tx = {
|
|
.channel = DMA1_Stream5,
|
|
.init = {
|
|
.DMA_Channel = DMA_Channel_7,
|
|
.DMA_PeripheralBaseAddr = (uint32_t)&DAC->DHR8R1,
|
|
.DMA_DIR = DMA_DIR_MemoryToPeripheral,
|
|
.DMA_BufferSize = BUFFERSIZE,
|
|
.DMA_PeripheralInc = DMA_PeripheralInc_Disable,
|
|
.DMA_MemoryInc = DMA_MemoryInc_Enable,
|
|
.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
|
|
.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte,
|
|
.DMA_Mode = DMA_Mode_Circular,
|
|
.DMA_Priority = DMA_Priority_High,
|
|
.DMA_FIFOMode = DMA_FIFOMode_Disable,
|
|
.DMA_FIFOThreshold = DMA_FIFOThreshold_Full,
|
|
.DMA_MemoryBurst = DMA_MemoryBurst_Single,
|
|
.DMA_PeripheralBurst = DMA_PeripheralBurst_Single,
|
|
},
|
|
},
|
|
},
|
|
.channel = DAC_Channel_1,
|
|
.dac_init = {
|
|
.DAC_Trigger = DAC_Trigger_T6_TRGO,
|
|
.DAC_WaveGeneration = DAC_WaveGeneration_None,
|
|
.DAC_OutputBuffer = DAC_OutputBuffer_Enable,
|
|
},
|
|
.dac_io = {
|
|
.gpio = GPIOA,
|
|
.init = {
|
|
.GPIO_Pin = GPIO_Pin_4,
|
|
.GPIO_Speed = GPIO_Speed_50MHz,
|
|
.GPIO_Mode = GPIO_Mode_AN,
|
|
.GPIO_OType = GPIO_OType_PP,
|
|
.GPIO_PuPd = GPIO_PuPd_NOPULL,
|
|
},
|
|
},
|
|
};
|
|
#endif /* if defined(PIOS_INCLUDE_WAVE) */
|