mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-12-04 12:24:11 +01:00
1780 lines
59 KiB
C
1780 lines
59 KiB
C
/**
|
|
****************************************************************************************
|
|
* @file board_hw_defs.c
|
|
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015-2016.
|
|
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
|
|
* PhoenixPilot, http://github.com/PhoenixPilot, Copyright (C) 2012
|
|
* @addtogroup OpenPilotSystem OpenPilot System
|
|
* @{
|
|
* @addtogroup OpenPilotCore OpenPilot Core
|
|
* @{
|
|
* @brief Defines board specific static initializers for hardware for the Sparky2 board.
|
|
***************************************************************************************/
|
|
/*
|
|
* This program is free software; you can redistribute it and/or modify
|
|
* it under the terms of the GNU General Public License as published by
|
|
* the Free Software Foundation; either version 3 of the License, or
|
|
* (at your option) any later version.
|
|
*
|
|
* This program is distributed in the hope that it will be useful, but
|
|
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
|
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
|
* for more details.
|
|
*
|
|
* You should have received a copy of the GNU General Public License along
|
|
* with this program; if not, write to the Free Software Foundation, Inc.,
|
|
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
|
*/
|
|
|
|
#if defined(PIOS_INCLUDE_LED)
|
|
|
|
#include <pios_led_priv.h>
|
|
|
|
static const struct pios_gpio pios_leds_v2[] = {
|
|
[PIOS_LED_HEARTBEAT] = {
|
|
.pin = {
|
|
.gpio = GPIOB,
|
|
.init = {
|
|
.GPIO_Pin = GPIO_Pin_5,
|
|
.GPIO_Speed = GPIO_Speed_50MHz,
|
|
.GPIO_Mode = GPIO_Mode_OUT,
|
|
.GPIO_OType = GPIO_OType_PP,
|
|
.GPIO_PuPd = GPIO_PuPd_UP
|
|
},
|
|
},
|
|
.active_low = true
|
|
},
|
|
[PIOS_LED_ALARM] = {
|
|
.pin = {
|
|
.gpio = GPIOB,
|
|
.init = {
|
|
.GPIO_Pin = GPIO_Pin_4,
|
|
.GPIO_Speed = GPIO_Speed_50MHz,
|
|
.GPIO_Mode = GPIO_Mode_OUT,
|
|
.GPIO_OType = GPIO_OType_PP,
|
|
.GPIO_PuPd = GPIO_PuPd_UP
|
|
},
|
|
},
|
|
.active_low = true
|
|
},
|
|
// the other LED in the TL code is accessed this way
|
|
[PIOS_LED_LINK] = {
|
|
.pin = {
|
|
.gpio = GPIOB,
|
|
.init = {
|
|
.GPIO_Pin = GPIO_Pin_6,
|
|
.GPIO_Speed = GPIO_Speed_50MHz,
|
|
.GPIO_Mode = GPIO_Mode_OUT,
|
|
.GPIO_OType = GPIO_OType_PP,
|
|
.GPIO_PuPd = GPIO_PuPd_UP
|
|
},
|
|
},
|
|
.active_low = true
|
|
},
|
|
#if (0 && defined(PIOS_RFM22B_DEBUG_ON_TELEM))
|
|
// Revo hardware config
|
|
[PIOS_LED_D1] = {
|
|
.pin = {
|
|
.gpio = GPIOB,
|
|
.init = {
|
|
.GPIO_Pin = GPIO_Pin_13,
|
|
.GPIO_Speed = GPIO_Speed_50MHz,
|
|
.GPIO_Mode = GPIO_Mode_OUT,
|
|
.GPIO_OType = GPIO_OType_PP,
|
|
.GPIO_PuPd = GPIO_PuPd_UP
|
|
},
|
|
},
|
|
},
|
|
[PIOS_LED_D2] = {
|
|
.pin = {
|
|
.gpio = GPIOB,
|
|
.init = {
|
|
.GPIO_Pin = GPIO_Pin_14,
|
|
.GPIO_Speed = GPIO_Speed_50MHz,
|
|
.GPIO_Mode = GPIO_Mode_OUT,
|
|
.GPIO_OType = GPIO_OType_PP,
|
|
.GPIO_PuPd = GPIO_PuPd_UP
|
|
},
|
|
},
|
|
},
|
|
[PIOS_LED_D3] = {
|
|
.pin = {
|
|
.gpio = GPIOB,
|
|
.init = {
|
|
.GPIO_Pin = GPIO_Pin_15,
|
|
.GPIO_Speed = GPIO_Speed_50MHz,
|
|
.GPIO_Mode = GPIO_Mode_OUT,
|
|
.GPIO_OType = GPIO_OType_PP,
|
|
.GPIO_PuPd = GPIO_PuPd_UP
|
|
},
|
|
},
|
|
},
|
|
[PIOS_LED_D4] = {
|
|
.pin = {
|
|
.gpio = GPIOC,
|
|
.init = {
|
|
.GPIO_Pin = GPIO_Pin_6,
|
|
.GPIO_Speed = GPIO_Speed_50MHz,
|
|
.GPIO_Mode = GPIO_Mode_OUT,
|
|
.GPIO_OType = GPIO_OType_PP,
|
|
.GPIO_PuPd = GPIO_PuPd_UP
|
|
},
|
|
},
|
|
},
|
|
#endif /* (0 && defined(PIOS_RFM22B_DEBUG_ON_TELEM)) */
|
|
};
|
|
|
|
static const struct pios_gpio_cfg pios_led_v2_cfg = {
|
|
.gpios = pios_leds_v2,
|
|
.num_gpios = NELEMENTS(pios_leds_v2),
|
|
};
|
|
|
|
const struct pios_gpio_cfg *PIOS_BOARD_HW_DEFS_GetLedCfg(__attribute__((unused)) uint32_t board_revision)
|
|
{
|
|
return &pios_led_v2_cfg;
|
|
}
|
|
|
|
#endif /* PIOS_INCLUDE_LED */
|
|
|
|
#if defined(PIOS_INCLUDE_SPI)
|
|
#include <pios_spi_priv.h>
|
|
|
|
/*
|
|
* SPI1 Interface
|
|
* Used for MPU9250 gyro, accelerometer and mag
|
|
*/
|
|
void PIOS_SPI_gyro_irq_handler(void);
|
|
void DMA2_Stream0_IRQHandler(void) __attribute__((alias("PIOS_SPI_gyro_irq_handler")));
|
|
void DMA2_Stream3_IRQHandler(void) __attribute__((alias("PIOS_SPI_gyro_irq_handler")));
|
|
static const struct pios_spi_cfg pios_spi_gyro_cfg = {
|
|
.regs = SPI1,
|
|
.remap = GPIO_AF_SPI1,
|
|
.init = {
|
|
.SPI_Mode = SPI_Mode_Master,
|
|
.SPI_Direction = SPI_Direction_2Lines_FullDuplex,
|
|
.SPI_DataSize = SPI_DataSize_8b,
|
|
.SPI_NSS = SPI_NSS_Soft,
|
|
.SPI_FirstBit = SPI_FirstBit_MSB,
|
|
.SPI_CRCPolynomial = 7,
|
|
.SPI_CPOL = SPI_CPOL_High,
|
|
.SPI_CPHA = SPI_CPHA_2Edge,
|
|
.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_16,
|
|
},
|
|
.use_crc = false,
|
|
.dma = {
|
|
.irq = {
|
|
.flags = (DMA_IT_TCIF0 | DMA_IT_TEIF0 | DMA_IT_HTIF0),
|
|
.init = {
|
|
.NVIC_IRQChannel = DMA2_Stream0_IRQn,
|
|
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
|
|
.NVIC_IRQChannelSubPriority = 0,
|
|
.NVIC_IRQChannelCmd = ENABLE,
|
|
},
|
|
},
|
|
|
|
.rx = {
|
|
.channel = DMA2_Stream0,
|
|
.init = {
|
|
.DMA_Channel = DMA_Channel_3,
|
|
.DMA_PeripheralBaseAddr = (uint32_t)&(SPI1->DR),
|
|
.DMA_DIR = DMA_DIR_PeripheralToMemory,
|
|
.DMA_PeripheralInc = DMA_PeripheralInc_Disable,
|
|
.DMA_MemoryInc = DMA_MemoryInc_Enable,
|
|
.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
|
|
.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte,
|
|
.DMA_Mode = DMA_Mode_Normal,
|
|
.DMA_Priority = DMA_Priority_Medium,
|
|
.DMA_FIFOMode = DMA_FIFOMode_Disable,
|
|
/* .DMA_FIFOThreshold */
|
|
.DMA_MemoryBurst = DMA_MemoryBurst_Single,
|
|
.DMA_PeripheralBurst = DMA_PeripheralBurst_Single,
|
|
},
|
|
},
|
|
.tx = {
|
|
.channel = DMA2_Stream3,
|
|
.init = {
|
|
.DMA_Channel = DMA_Channel_3,
|
|
.DMA_PeripheralBaseAddr = (uint32_t)&(SPI1->DR),
|
|
.DMA_DIR = DMA_DIR_MemoryToPeripheral,
|
|
.DMA_PeripheralInc = DMA_PeripheralInc_Disable,
|
|
.DMA_MemoryInc = DMA_MemoryInc_Enable,
|
|
.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
|
|
.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte,
|
|
.DMA_Mode = DMA_Mode_Normal,
|
|
.DMA_Priority = DMA_Priority_High,
|
|
.DMA_FIFOMode = DMA_FIFOMode_Disable,
|
|
/* .DMA_FIFOThreshold */
|
|
.DMA_MemoryBurst = DMA_MemoryBurst_Single,
|
|
.DMA_PeripheralBurst = DMA_PeripheralBurst_Single,
|
|
},
|
|
},
|
|
},
|
|
.sclk = {
|
|
.gpio = GPIOA,
|
|
.init = {
|
|
.GPIO_Pin = GPIO_Pin_5,
|
|
.GPIO_Speed = GPIO_Speed_100MHz,
|
|
.GPIO_Mode = GPIO_Mode_AF,
|
|
.GPIO_OType = GPIO_OType_PP,
|
|
.GPIO_PuPd = GPIO_PuPd_UP
|
|
},
|
|
},
|
|
.miso = {
|
|
.gpio = GPIOA,
|
|
.init = {
|
|
.GPIO_Pin = GPIO_Pin_6,
|
|
.GPIO_Speed = GPIO_Speed_50MHz,
|
|
.GPIO_Mode = GPIO_Mode_AF,
|
|
.GPIO_OType = GPIO_OType_PP,
|
|
.GPIO_PuPd = GPIO_PuPd_UP
|
|
},
|
|
},
|
|
.mosi = {
|
|
.gpio = GPIOA,
|
|
.init = {
|
|
.GPIO_Pin = GPIO_Pin_7,
|
|
.GPIO_Speed = GPIO_Speed_50MHz,
|
|
.GPIO_Mode = GPIO_Mode_AF,
|
|
.GPIO_OType = GPIO_OType_PP,
|
|
.GPIO_PuPd = GPIO_PuPd_UP
|
|
},
|
|
},
|
|
.slave_count = 1,
|
|
.ssel = {
|
|
{
|
|
.gpio = GPIOC,
|
|
.init = {
|
|
.GPIO_Pin = GPIO_Pin_4,
|
|
.GPIO_Speed = GPIO_Speed_50MHz,
|
|
.GPIO_Mode = GPIO_Mode_OUT,
|
|
.GPIO_OType = GPIO_OType_PP,
|
|
.GPIO_PuPd = GPIO_PuPd_UP
|
|
}
|
|
}
|
|
}
|
|
};
|
|
|
|
static uint32_t pios_spi_gyro_id;
|
|
void PIOS_SPI_gyro_irq_handler(void)
|
|
{
|
|
/* Call into the generic code to handle the IRQ for this specific device */
|
|
PIOS_SPI_IRQ_Handler(pios_spi_gyro_id);
|
|
}
|
|
|
|
|
|
/*
|
|
* SPI3 Interface
|
|
* Used for Flash and the RFM22B
|
|
*/
|
|
void PIOS_SPI_telem_flash_irq_handler(void);
|
|
void DMA1_Stream0_IRQHandler(void) __attribute__((alias("PIOS_SPI_telem_flash_irq_handler")));
|
|
void DMA1_Stream5_IRQHandler(void) __attribute__((alias("PIOS_SPI_telem_flash_irq_handler")));
|
|
static const struct pios_spi_cfg pios_spi_telem_flash_cfg = {
|
|
.regs = SPI3,
|
|
.remap = GPIO_AF_SPI3,
|
|
.init = {
|
|
.SPI_Mode = SPI_Mode_Master,
|
|
.SPI_Direction = SPI_Direction_2Lines_FullDuplex,
|
|
.SPI_DataSize = SPI_DataSize_8b,
|
|
.SPI_NSS = SPI_NSS_Soft,
|
|
.SPI_FirstBit = SPI_FirstBit_MSB,
|
|
.SPI_CRCPolynomial = 7,
|
|
.SPI_CPOL = SPI_CPOL_Low,
|
|
.SPI_CPHA = SPI_CPHA_1Edge,
|
|
.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_8,
|
|
},
|
|
.use_crc = false,
|
|
.dma = {
|
|
.irq = {
|
|
// Note this is the stream ID that triggers interrupts (in this case RX)
|
|
.flags = (DMA_IT_TCIF0 | DMA_IT_TEIF0 | DMA_IT_HTIF0),
|
|
.init = {
|
|
.NVIC_IRQChannel = DMA1_Stream0_IRQn,
|
|
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
|
|
.NVIC_IRQChannelSubPriority = 0,
|
|
.NVIC_IRQChannelCmd = ENABLE,
|
|
},
|
|
},
|
|
|
|
.rx = {
|
|
.channel = DMA1_Stream0,
|
|
.init = {
|
|
.DMA_Channel = DMA_Channel_0,
|
|
.DMA_PeripheralBaseAddr = (uint32_t)&(SPI3->DR),
|
|
.DMA_DIR = DMA_DIR_PeripheralToMemory,
|
|
.DMA_PeripheralInc = DMA_PeripheralInc_Disable,
|
|
.DMA_MemoryInc = DMA_MemoryInc_Enable,
|
|
.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
|
|
.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte,
|
|
.DMA_Mode = DMA_Mode_Normal,
|
|
.DMA_Priority = DMA_Priority_Medium,
|
|
// TODO: Enable FIFO
|
|
.DMA_FIFOMode = DMA_FIFOMode_Disable,
|
|
.DMA_FIFOThreshold = DMA_FIFOThreshold_Full,
|
|
.DMA_MemoryBurst = DMA_MemoryBurst_Single,
|
|
.DMA_PeripheralBurst = DMA_PeripheralBurst_Single,
|
|
},
|
|
},
|
|
.tx = {
|
|
.channel = DMA1_Stream5,
|
|
.init = {
|
|
.DMA_Channel = DMA_Channel_0,
|
|
.DMA_PeripheralBaseAddr = (uint32_t)&(SPI3->DR),
|
|
.DMA_DIR = DMA_DIR_MemoryToPeripheral,
|
|
.DMA_PeripheralInc = DMA_PeripheralInc_Disable,
|
|
.DMA_MemoryInc = DMA_MemoryInc_Enable,
|
|
.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
|
|
.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte,
|
|
.DMA_Mode = DMA_Mode_Normal,
|
|
.DMA_Priority = DMA_Priority_Medium,
|
|
.DMA_FIFOMode = DMA_FIFOMode_Disable,
|
|
.DMA_FIFOThreshold = DMA_FIFOThreshold_Full,
|
|
.DMA_MemoryBurst = DMA_MemoryBurst_Single,
|
|
.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 = {
|
|
.gpio = GPIOC,
|
|
.init = {
|
|
.GPIO_Pin = GPIO_Pin_12,
|
|
.GPIO_Speed = GPIO_Speed_50MHz,
|
|
.GPIO_Mode = GPIO_Mode_AF,
|
|
.GPIO_OType = GPIO_OType_PP,
|
|
.GPIO_PuPd = GPIO_PuPd_NOPULL
|
|
},
|
|
},
|
|
.slave_count = 2,
|
|
.ssel = {
|
|
{ // RFM22b
|
|
.gpio = GPIOA,
|
|
.init = {
|
|
.GPIO_Pin = GPIO_Pin_15,
|
|
.GPIO_Speed = GPIO_Speed_50MHz,
|
|
.GPIO_Mode = GPIO_Mode_OUT,
|
|
.GPIO_OType = GPIO_OType_PP,
|
|
.GPIO_PuPd = GPIO_PuPd_UP
|
|
}
|
|
},
|
|
{ // Flash
|
|
.gpio = GPIOB,
|
|
.init = {
|
|
.GPIO_Pin = GPIO_Pin_3,
|
|
.GPIO_Speed = GPIO_Speed_50MHz,
|
|
.GPIO_Mode = GPIO_Mode_OUT,
|
|
.GPIO_OType = GPIO_OType_PP,
|
|
.GPIO_PuPd = GPIO_PuPd_UP
|
|
}
|
|
},
|
|
},
|
|
};
|
|
|
|
uint32_t pios_spi_telem_flash_id;
|
|
void PIOS_SPI_telem_flash_irq_handler(void)
|
|
{
|
|
/* Call into the generic code to handle the IRQ for this specific device */
|
|
PIOS_SPI_IRQ_Handler(pios_spi_telem_flash_id);
|
|
}
|
|
|
|
|
|
#if defined(PIOS_INCLUDE_RFM22B)
|
|
#include <pios_rfm22b_priv.h>
|
|
|
|
static const struct pios_exti_cfg pios_exti_rfm22b_cfg __exti_config = {
|
|
.vector = PIOS_RFM22_EXT_Int,
|
|
.line = EXTI_Line2,
|
|
.pin = {
|
|
.gpio = GPIOD,
|
|
.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,
|
|
},
|
|
},
|
|
.irq = {
|
|
.init = {
|
|
.NVIC_IRQChannel = EXTI2_IRQn,
|
|
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW,
|
|
.NVIC_IRQChannelSubPriority = 0,
|
|
.NVIC_IRQChannelCmd = ENABLE,
|
|
},
|
|
},
|
|
.exti = {
|
|
.init = {
|
|
.EXTI_Line = EXTI_Line2, // matches above GPIO pin
|
|
.EXTI_Mode = EXTI_Mode_Interrupt,
|
|
.EXTI_Trigger = EXTI_Trigger_Falling,
|
|
.EXTI_LineCmd = ENABLE,
|
|
},
|
|
},
|
|
};
|
|
|
|
const struct pios_rfm22b_cfg pios_rfm22b_rm2_cfg = {
|
|
.spi_cfg = &pios_spi_telem_flash_cfg,
|
|
.exti_cfg = &pios_exti_rfm22b_cfg,
|
|
.RFXtalCap = 0x7f,
|
|
.slave_num = 0,
|
|
.gpio_direction = GPIO0_TX_GPIO1_RX,
|
|
};
|
|
|
|
const struct pios_rfm22b_cfg *PIOS_BOARD_HW_DEFS_GetRfm22Cfg(__attribute__((unused)) uint32_t board_revision)
|
|
{
|
|
return &pios_rfm22b_rm2_cfg;
|
|
}
|
|
|
|
#endif /* PIOS_INCLUDE_RFM22B */
|
|
|
|
#endif /* PIOS_INCLUDE_SPI */
|
|
|
|
#if defined(PIOS_INCLUDE_FLASH)
|
|
#include "pios_flashfs_logfs_priv.h"
|
|
#include "pios_flash_jedec_priv.h"
|
|
#include "pios_flash_internal_priv.h"
|
|
|
|
static const struct flashfs_logfs_cfg flashfs_external_user_cfg = {
|
|
.fs_magic = 0x99abceff,
|
|
.total_fs_size = 0x001C0000, /* 2M bytes (32 sectors = entire chip) */
|
|
.arena_size = 0x000E0000, /* biggest possible arena size fssize/2 */
|
|
.slot_size = 0x00000100, /* 256 bytes */
|
|
|
|
.start_offset = 0x00040000, /* start offset */
|
|
.sector_size = 0x00010000, /* 64K bytes */
|
|
.page_size = 0x00000100, /* 256 bytes */
|
|
};
|
|
|
|
static const struct flashfs_logfs_cfg flashfs_external_system_cfg = {
|
|
.fs_magic = 0x99bbcdef,
|
|
.total_fs_size = 0x00040000, /* 2M bytes (32 sectors = entire chip) */
|
|
.arena_size = 0x00010000, /* 256 * slot size */
|
|
.slot_size = 0x00000100, /* 256 bytes */
|
|
|
|
.start_offset = 0, /* start at the beginning of the chip */
|
|
.sector_size = 0x00010000, /* 64K bytes */
|
|
.page_size = 0x00000100, /* 256 bytes */
|
|
};
|
|
|
|
|
|
static const struct pios_flash_internal_cfg flash_internal_cfg = {};
|
|
|
|
static const struct flashfs_logfs_cfg flashfs_internal_cfg = {
|
|
.fs_magic = 0x99abcfef,
|
|
.total_fs_size = EE_BANK_SIZE, /* 32K bytes (2x16KB sectors) */
|
|
.arena_size = 0x00004000, /* 64 * slot size = 16K bytes = 1 sector */
|
|
.slot_size = 0x00000100, /* 256 bytes */
|
|
|
|
.start_offset = EE_BANK_BASE, /* start after the bootloader */
|
|
.sector_size = 0x00004000, /* 16K bytes */
|
|
.page_size = 0x00004000, /* 16K bytes */
|
|
};
|
|
|
|
#endif /* PIOS_INCLUDE_FLASH */
|
|
|
|
#include <pios_usart_priv.h>
|
|
|
|
#ifdef PIOS_INCLUDE_COM_TELEM
|
|
|
|
/*
|
|
* MAIN PORT
|
|
*/
|
|
static const struct pios_usart_cfg pios_usart_main_cfg = {
|
|
.regs = USART1,
|
|
.remap = GPIO_AF_USART1,
|
|
.init = {
|
|
.USART_BaudRate = 57600,
|
|
.USART_WordLength = USART_WordLength_8b,
|
|
.USART_Parity = USART_Parity_No,
|
|
.USART_StopBits = USART_StopBits_1,
|
|
.USART_HardwareFlowControl = USART_HardwareFlowControl_None,
|
|
.USART_Mode = USART_Mode_Rx | USART_Mode_Tx,
|
|
},
|
|
.irq = {
|
|
.init = {
|
|
.NVIC_IRQChannel = USART1_IRQn,
|
|
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
|
|
.NVIC_IRQChannelSubPriority = 0,
|
|
.NVIC_IRQChannelCmd = ENABLE,
|
|
},
|
|
},
|
|
.rx = {
|
|
.gpio = GPIOA,
|
|
.init = {
|
|
.GPIO_Pin = GPIO_Pin_10,
|
|
.GPIO_Speed = GPIO_Speed_2MHz,
|
|
.GPIO_Mode = GPIO_Mode_AF,
|
|
.GPIO_OType = GPIO_OType_PP,
|
|
.GPIO_PuPd = GPIO_PuPd_UP
|
|
},
|
|
},
|
|
.tx = {
|
|
.gpio = GPIOA,
|
|
.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
|
|
},
|
|
},
|
|
};
|
|
#endif /* PIOS_INCLUDE_COM_TELEM */
|
|
|
|
#ifdef PIOS_INCLUDE_DSM
|
|
|
|
#include "pios_dsm_priv.h"
|
|
static const struct pios_usart_cfg pios_usart_dsm_main_cfg = {
|
|
.regs = USART1,
|
|
.remap = GPIO_AF_USART1,
|
|
.init = {
|
|
.USART_BaudRate = 115200,
|
|
.USART_WordLength = USART_WordLength_8b,
|
|
.USART_Parity = USART_Parity_No,
|
|
.USART_StopBits = USART_StopBits_1,
|
|
.USART_HardwareFlowControl = USART_HardwareFlowControl_None,
|
|
.USART_Mode = USART_Mode_Rx,
|
|
},
|
|
.irq = {
|
|
.init = {
|
|
.NVIC_IRQChannel = USART1_IRQn,
|
|
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
|
|
.NVIC_IRQChannelSubPriority = 0,
|
|
.NVIC_IRQChannelCmd = ENABLE,
|
|
},
|
|
},
|
|
.rx = {
|
|
.gpio = GPIOA,
|
|
.init = {
|
|
.GPIO_Pin = GPIO_Pin_10,
|
|
.GPIO_Speed = GPIO_Speed_2MHz,
|
|
.GPIO_Mode = GPIO_Mode_AF,
|
|
.GPIO_OType = GPIO_OType_PP,
|
|
.GPIO_PuPd = GPIO_PuPd_UP
|
|
},
|
|
},
|
|
.tx = {
|
|
.gpio = GPIOA,
|
|
.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
|
|
},
|
|
},
|
|
};
|
|
|
|
// Because of the inverter on the main port this will not
|
|
// work. Notice the mode is set to IN to maintain API
|
|
// compatibility but protect the pins
|
|
static const struct pios_dsm_cfg pios_dsm_main_cfg = {
|
|
.bind = {
|
|
.gpio = GPIOA,
|
|
.init = {
|
|
.GPIO_Pin = GPIO_Pin_10,
|
|
.GPIO_Speed = GPIO_Speed_2MHz,
|
|
.GPIO_Mode = GPIO_Mode_IN,
|
|
.GPIO_OType = GPIO_OType_PP,
|
|
.GPIO_PuPd = GPIO_PuPd_NOPULL
|
|
},
|
|
},
|
|
};
|
|
|
|
#endif /* PIOS_INCLUDE_DSM */
|
|
|
|
#ifdef PIOS_INCLUDE_COM_FLEXI
|
|
/*
|
|
* FLEXI PORT
|
|
*/
|
|
static const struct pios_usart_cfg pios_usart_flexi_cfg = {
|
|
.regs = USART3,
|
|
.remap = GPIO_AF_USART3,
|
|
.init = {
|
|
.USART_BaudRate = 57600,
|
|
.USART_WordLength = USART_WordLength_8b,
|
|
.USART_Parity = USART_Parity_No,
|
|
.USART_StopBits = USART_StopBits_1,
|
|
.USART_HardwareFlowControl =
|
|
USART_HardwareFlowControl_None,
|
|
.USART_Mode = USART_Mode_Rx | USART_Mode_Tx,
|
|
},
|
|
.irq = {
|
|
.init = {
|
|
.NVIC_IRQChannel = USART3_IRQn,
|
|
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
|
|
.NVIC_IRQChannelSubPriority = 0,
|
|
.NVIC_IRQChannelCmd = ENABLE,
|
|
},
|
|
},
|
|
.rx = {
|
|
.gpio = GPIOB,
|
|
.init = {
|
|
.GPIO_Pin = GPIO_Pin_11,
|
|
.GPIO_Speed = GPIO_Speed_2MHz,
|
|
.GPIO_Mode = GPIO_Mode_AF,
|
|
.GPIO_OType = GPIO_OType_PP,
|
|
.GPIO_PuPd = GPIO_PuPd_UP
|
|
},
|
|
},
|
|
.tx = {
|
|
.gpio = GPIOB,
|
|
.init = {
|
|
.GPIO_Pin = GPIO_Pin_10,
|
|
.GPIO_Speed = GPIO_Speed_2MHz,
|
|
.GPIO_Mode = GPIO_Mode_AF,
|
|
.GPIO_OType = GPIO_OType_PP,
|
|
.GPIO_PuPd = GPIO_PuPd_UP
|
|
},
|
|
},
|
|
};
|
|
|
|
#endif /* PIOS_INCLUDE_COM_FLEXI */
|
|
|
|
#ifdef PIOS_INCLUDE_DSM
|
|
|
|
#include "pios_dsm_priv.h"
|
|
static const struct pios_usart_cfg pios_usart_dsm_flexi_cfg = {
|
|
.regs = USART3,
|
|
.remap = GPIO_AF_USART3,
|
|
.init = {
|
|
.USART_BaudRate = 115200,
|
|
.USART_WordLength = USART_WordLength_8b,
|
|
.USART_Parity = USART_Parity_No,
|
|
.USART_StopBits = USART_StopBits_1,
|
|
.USART_HardwareFlowControl = USART_HardwareFlowControl_None,
|
|
.USART_Mode = USART_Mode_Rx,
|
|
},
|
|
.irq = {
|
|
.init = {
|
|
.NVIC_IRQChannel = USART3_IRQn,
|
|
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
|
|
.NVIC_IRQChannelSubPriority = 0,
|
|
.NVIC_IRQChannelCmd = ENABLE,
|
|
},
|
|
},
|
|
.rx = {
|
|
.gpio = GPIOB,
|
|
.init = {
|
|
.GPIO_Pin = GPIO_Pin_11,
|
|
.GPIO_Speed = GPIO_Speed_2MHz,
|
|
.GPIO_Mode = GPIO_Mode_AF,
|
|
.GPIO_OType = GPIO_OType_PP,
|
|
.GPIO_PuPd = GPIO_PuPd_UP
|
|
},
|
|
},
|
|
.tx = {
|
|
.gpio = GPIOB,
|
|
.init = {
|
|
.GPIO_Pin = GPIO_Pin_10,
|
|
.GPIO_Speed = GPIO_Speed_2MHz,
|
|
.GPIO_Mode = GPIO_Mode_AF,
|
|
.GPIO_OType = GPIO_OType_PP,
|
|
.GPIO_PuPd = GPIO_PuPd_UP
|
|
},
|
|
},
|
|
};
|
|
|
|
static const struct pios_dsm_cfg pios_dsm_flexi_cfg = {
|
|
.bind = {
|
|
.gpio = GPIOB,
|
|
.init = {
|
|
.GPIO_Pin = GPIO_Pin_11,
|
|
.GPIO_Speed = GPIO_Speed_2MHz,
|
|
.GPIO_Mode = GPIO_Mode_OUT,
|
|
.GPIO_OType = GPIO_OType_PP,
|
|
.GPIO_PuPd = GPIO_PuPd_NOPULL
|
|
},
|
|
},
|
|
};
|
|
|
|
#endif /* PIOS_INCLUDE_DSM */
|
|
|
|
#if defined(PIOS_INCLUDE_SRXL)
|
|
/*
|
|
* SRXL USART
|
|
*/
|
|
#include <pios_srxl_priv.h>
|
|
|
|
static const struct pios_usart_cfg pios_usart_srxl_flexi_cfg = {
|
|
.regs = USART3,
|
|
.remap = GPIO_AF_USART3,
|
|
.init = {
|
|
.USART_BaudRate = 115200,
|
|
.USART_WordLength = USART_WordLength_8b,
|
|
.USART_Parity = USART_Parity_No,
|
|
.USART_StopBits = USART_StopBits_1,
|
|
.USART_HardwareFlowControl = USART_HardwareFlowControl_None,
|
|
.USART_Mode = USART_Mode_Rx,
|
|
},
|
|
.irq = {
|
|
.init = {
|
|
.NVIC_IRQChannel = USART3_IRQn,
|
|
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
|
|
.NVIC_IRQChannelSubPriority = 0,
|
|
.NVIC_IRQChannelCmd = ENABLE,
|
|
},
|
|
},
|
|
.rx = {
|
|
.gpio = GPIOB,
|
|
.init = {
|
|
.GPIO_Pin = GPIO_Pin_11,
|
|
.GPIO_Speed = GPIO_Speed_2MHz,
|
|
.GPIO_Mode = GPIO_Mode_AF,
|
|
.GPIO_OType = GPIO_OType_PP,
|
|
.GPIO_PuPd = GPIO_PuPd_UP
|
|
},
|
|
},
|
|
.tx = {
|
|
.gpio = GPIOB,
|
|
.init = {
|
|
.GPIO_Pin = GPIO_Pin_10,
|
|
.GPIO_Speed = GPIO_Speed_2MHz,
|
|
.GPIO_Mode = GPIO_Mode_OUT,
|
|
.GPIO_OType = GPIO_OType_PP,
|
|
.GPIO_PuPd = GPIO_PuPd_UP
|
|
},
|
|
},
|
|
};
|
|
|
|
static const struct pios_usart_cfg pios_usart_srxl_rcvr_cfg = {
|
|
.regs = USART6,
|
|
.remap = GPIO_AF_USART6,
|
|
.init = {
|
|
.USART_BaudRate = 115200,
|
|
.USART_WordLength = USART_WordLength_8b,
|
|
.USART_Parity = USART_Parity_No,
|
|
.USART_StopBits = USART_StopBits_1,
|
|
.USART_HardwareFlowControl = USART_HardwareFlowControl_None,
|
|
.USART_Mode = USART_Mode_Rx,
|
|
},
|
|
.irq = {
|
|
.init = {
|
|
.NVIC_IRQChannel = USART6_IRQn,
|
|
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
|
|
.NVIC_IRQChannelSubPriority = 0,
|
|
.NVIC_IRQChannelCmd = ENABLE,
|
|
},
|
|
},
|
|
.rx = {
|
|
.gpio = GPIOC,
|
|
.init = {
|
|
.GPIO_Pin = GPIO_Pin_7,
|
|
.GPIO_Speed = GPIO_Speed_2MHz,
|
|
.GPIO_Mode = GPIO_Mode_AF,
|
|
.GPIO_OType = GPIO_OType_PP,
|
|
.GPIO_PuPd = GPIO_PuPd_UP
|
|
},
|
|
},
|
|
};
|
|
|
|
#endif /* PIOS_INCLUDE_SRXL */
|
|
|
|
// these were copied from Revo support
|
|
// they might need to be further modified for Sparky2 support
|
|
#if defined(PIOS_INCLUDE_HOTT)
|
|
/*
|
|
* HOTT USART
|
|
*/
|
|
#include <pios_hott_priv.h>
|
|
|
|
static const struct pios_usart_cfg pios_usart_hott_flexi_cfg = {
|
|
.regs = USART3,
|
|
.remap = GPIO_AF_USART3,
|
|
.init = {
|
|
.USART_BaudRate = 115200,
|
|
.USART_WordLength = USART_WordLength_8b,
|
|
.USART_Parity = USART_Parity_No,
|
|
.USART_StopBits = USART_StopBits_1,
|
|
.USART_HardwareFlowControl = USART_HardwareFlowControl_None,
|
|
.USART_Mode = USART_Mode_Rx,
|
|
},
|
|
.irq = {
|
|
.init = {
|
|
.NVIC_IRQChannel = USART3_IRQn,
|
|
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
|
|
.NVIC_IRQChannelSubPriority = 0,
|
|
.NVIC_IRQChannelCmd = ENABLE,
|
|
},
|
|
},
|
|
.rx = {
|
|
.gpio = GPIOB,
|
|
.init = {
|
|
.GPIO_Pin = GPIO_Pin_11,
|
|
.GPIO_Speed = GPIO_Speed_2MHz,
|
|
.GPIO_Mode = GPIO_Mode_AF,
|
|
.GPIO_OType = GPIO_OType_PP,
|
|
.GPIO_PuPd = GPIO_PuPd_UP
|
|
},
|
|
},
|
|
.tx = {
|
|
.gpio = GPIOB,
|
|
.init = {
|
|
.GPIO_Pin = GPIO_Pin_10,
|
|
.GPIO_Speed = GPIO_Speed_2MHz,
|
|
.GPIO_Mode = GPIO_Mode_OUT,
|
|
.GPIO_OType = GPIO_OType_PP,
|
|
.GPIO_PuPd = GPIO_PuPd_UP
|
|
},
|
|
},
|
|
};
|
|
|
|
static const struct pios_usart_cfg pios_usart_hott_rcvr_cfg = {
|
|
.regs = USART6,
|
|
.remap = GPIO_AF_USART6,
|
|
.init = {
|
|
.USART_BaudRate = 115200,
|
|
.USART_WordLength = USART_WordLength_8b,
|
|
.USART_Parity = USART_Parity_No,
|
|
.USART_StopBits = USART_StopBits_1,
|
|
.USART_HardwareFlowControl = USART_HardwareFlowControl_None,
|
|
.USART_Mode = USART_Mode_Rx,
|
|
},
|
|
.irq = {
|
|
.init = {
|
|
.NVIC_IRQChannel = USART6_IRQn,
|
|
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
|
|
.NVIC_IRQChannelSubPriority = 0,
|
|
.NVIC_IRQChannelCmd = ENABLE,
|
|
},
|
|
},
|
|
.rx = {
|
|
.gpio = GPIOC,
|
|
.init = {
|
|
.GPIO_Pin = GPIO_Pin_7,
|
|
.GPIO_Speed = GPIO_Speed_2MHz,
|
|
.GPIO_Mode = GPIO_Mode_AF,
|
|
.GPIO_OType = GPIO_OType_PP,
|
|
.GPIO_PuPd = GPIO_PuPd_UP
|
|
},
|
|
},
|
|
};
|
|
|
|
#endif /* PIOS_INCLUDE_HOTT */
|
|
|
|
#if defined(PIOS_INCLUDE_EXBUS)
|
|
/*
|
|
* EXBUS USART
|
|
*/
|
|
#include <pios_exbus_priv.h>
|
|
|
|
static const struct pios_usart_cfg pios_usart_exbus_flexi_cfg = {
|
|
.regs = USART3,
|
|
.remap = GPIO_AF_USART3,
|
|
.init = {
|
|
.USART_BaudRate = 125000,
|
|
.USART_WordLength = USART_WordLength_8b,
|
|
.USART_Parity = USART_Parity_No,
|
|
.USART_StopBits = USART_StopBits_1,
|
|
.USART_HardwareFlowControl = USART_HardwareFlowControl_None,
|
|
.USART_Mode = USART_Mode_Rx,
|
|
},
|
|
.irq = {
|
|
.init = {
|
|
.NVIC_IRQChannel = USART3_IRQn,
|
|
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
|
|
.NVIC_IRQChannelSubPriority = 0,
|
|
.NVIC_IRQChannelCmd = ENABLE,
|
|
},
|
|
},
|
|
.rx = {
|
|
.gpio = GPIOB,
|
|
.init = {
|
|
.GPIO_Pin = GPIO_Pin_11,
|
|
.GPIO_Speed = GPIO_Speed_2MHz,
|
|
.GPIO_Mode = GPIO_Mode_AF,
|
|
.GPIO_OType = GPIO_OType_PP,
|
|
.GPIO_PuPd = GPIO_PuPd_UP
|
|
},
|
|
},
|
|
.tx = {
|
|
.gpio = GPIOB,
|
|
.init = {
|
|
.GPIO_Pin = GPIO_Pin_10,
|
|
.GPIO_Speed = GPIO_Speed_2MHz,
|
|
.GPIO_Mode = GPIO_Mode_OUT,
|
|
.GPIO_OType = GPIO_OType_PP,
|
|
.GPIO_PuPd = GPIO_PuPd_UP
|
|
},
|
|
},
|
|
};
|
|
|
|
static const struct pios_usart_cfg pios_usart_exbus_rcvr_cfg = {
|
|
.regs = USART6,
|
|
.remap = GPIO_AF_USART6,
|
|
.init = {
|
|
.USART_BaudRate = 125000,
|
|
.USART_WordLength = USART_WordLength_8b,
|
|
.USART_Parity = USART_Parity_No,
|
|
.USART_StopBits = USART_StopBits_1,
|
|
.USART_HardwareFlowControl = USART_HardwareFlowControl_None,
|
|
.USART_Mode = USART_Mode_Rx,
|
|
},
|
|
.irq = {
|
|
.init = {
|
|
.NVIC_IRQChannel = USART6_IRQn,
|
|
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
|
|
.NVIC_IRQChannelSubPriority = 0,
|
|
.NVIC_IRQChannelCmd = ENABLE,
|
|
},
|
|
},
|
|
.rx = {
|
|
.gpio = GPIOC,
|
|
.init = {
|
|
.GPIO_Pin = GPIO_Pin_7,
|
|
.GPIO_Speed = GPIO_Speed_2MHz,
|
|
.GPIO_Mode = GPIO_Mode_AF,
|
|
.GPIO_OType = GPIO_OType_PP,
|
|
.GPIO_PuPd = GPIO_PuPd_UP
|
|
},
|
|
},
|
|
};
|
|
|
|
#endif /* PIOS_INCLUDE_EXBUS */
|
|
|
|
/*
|
|
* HK OSD
|
|
*/
|
|
static const struct pios_usart_cfg pios_usart_hkosd_main_cfg = {
|
|
.regs = USART1,
|
|
.remap = GPIO_AF_USART1,
|
|
.init = {
|
|
.USART_BaudRate = 57600,
|
|
.USART_WordLength = USART_WordLength_8b,
|
|
.USART_Parity = USART_Parity_No,
|
|
.USART_StopBits = USART_StopBits_1,
|
|
.USART_HardwareFlowControl = USART_HardwareFlowControl_None,
|
|
.USART_Mode = USART_Mode_Rx | USART_Mode_Tx,
|
|
},
|
|
.irq = {
|
|
.init = {
|
|
.NVIC_IRQChannel = USART1_IRQn,
|
|
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
|
|
.NVIC_IRQChannelSubPriority = 0,
|
|
.NVIC_IRQChannelCmd = ENABLE,
|
|
},
|
|
},
|
|
.rx = {
|
|
.gpio = GPIOA,
|
|
.init = {
|
|
.GPIO_Pin = GPIO_Pin_10,
|
|
.GPIO_Speed = GPIO_Speed_2MHz,
|
|
.GPIO_Mode = GPIO_Mode_AF,
|
|
.GPIO_OType = GPIO_OType_PP,
|
|
.GPIO_PuPd = GPIO_PuPd_UP
|
|
},
|
|
},
|
|
.tx = {
|
|
.gpio = GPIOA,
|
|
.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
|
|
},
|
|
},
|
|
};
|
|
|
|
static const struct pios_usart_cfg pios_usart_hkosd_flexi_cfg = {
|
|
.regs = USART3,
|
|
.remap = GPIO_AF_USART3,
|
|
.init = {
|
|
.USART_BaudRate = 57600,
|
|
.USART_WordLength = USART_WordLength_8b,
|
|
.USART_Parity = USART_Parity_No,
|
|
.USART_StopBits = USART_StopBits_1,
|
|
.USART_HardwareFlowControl = USART_HardwareFlowControl_None,
|
|
.USART_Mode = USART_Mode_Rx | USART_Mode_Tx,
|
|
},
|
|
.irq = {
|
|
.init = {
|
|
.NVIC_IRQChannel = USART3_IRQn,
|
|
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
|
|
.NVIC_IRQChannelSubPriority = 0,
|
|
.NVIC_IRQChannelCmd = ENABLE,
|
|
},
|
|
},
|
|
.rx = {
|
|
.gpio = GPIOB,
|
|
.init = {
|
|
.GPIO_Pin = GPIO_Pin_11,
|
|
.GPIO_Speed = GPIO_Speed_2MHz,
|
|
.GPIO_Mode = GPIO_Mode_AF,
|
|
.GPIO_OType = GPIO_OType_PP,
|
|
.GPIO_PuPd = GPIO_PuPd_UP
|
|
},
|
|
},
|
|
.tx = {
|
|
.gpio = GPIOB,
|
|
.init = {
|
|
.GPIO_Pin = GPIO_Pin_10,
|
|
.GPIO_Speed = GPIO_Speed_2MHz,
|
|
.GPIO_Mode = GPIO_Mode_AF,
|
|
.GPIO_OType = GPIO_OType_PP,
|
|
.GPIO_PuPd = GPIO_PuPd_UP
|
|
},
|
|
},
|
|
};
|
|
|
|
|
|
/*
|
|
* RCVR PORT
|
|
*/
|
|
|
|
#if defined(PIOS_INCLUDE_SBUS)
|
|
/*
|
|
* S.Bus USART
|
|
*/
|
|
#include <pios_sbus_priv.h>
|
|
|
|
static const struct pios_usart_cfg pios_usart_sbus_rcvr_cfg = {
|
|
.regs = USART6,
|
|
.remap = GPIO_AF_USART6,
|
|
.init = {
|
|
.USART_BaudRate = 100000,
|
|
.USART_WordLength = USART_WordLength_8b,
|
|
.USART_Parity = USART_Parity_Even,
|
|
.USART_StopBits = USART_StopBits_2,
|
|
.USART_HardwareFlowControl = USART_HardwareFlowControl_None,
|
|
.USART_Mode = USART_Mode_Rx,
|
|
},
|
|
.irq = {
|
|
.init = {
|
|
.NVIC_IRQChannel = USART6_IRQn,
|
|
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
|
|
.NVIC_IRQChannelSubPriority = 0,
|
|
.NVIC_IRQChannelCmd = ENABLE,
|
|
},
|
|
},
|
|
.rx = {
|
|
.gpio = GPIOC,
|
|
.init = {
|
|
.GPIO_Pin = GPIO_Pin_7,
|
|
.GPIO_Speed = GPIO_Speed_2MHz,
|
|
.GPIO_Mode = GPIO_Mode_AF,
|
|
.GPIO_OType = GPIO_OType_PP,
|
|
.GPIO_PuPd = GPIO_PuPd_UP
|
|
},
|
|
},
|
|
};
|
|
|
|
|
|
static const struct pios_sbus_cfg pios_sbus_cfg = {
|
|
/* Inverter configuration */
|
|
.inv = {
|
|
.gpio = GPIOC,
|
|
.init = {
|
|
.GPIO_Pin = GPIO_Pin_6,
|
|
.GPIO_Speed = GPIO_Speed_2MHz,
|
|
.GPIO_Mode = GPIO_Mode_OUT,
|
|
.GPIO_OType = GPIO_OType_PP,
|
|
.GPIO_PuPd = GPIO_PuPd_UP
|
|
},
|
|
},
|
|
.gpio_inv_enable = Bit_SET,
|
|
.gpio_inv_disable = Bit_RESET,
|
|
.gpio_clk_func = RCC_AHB1PeriphClockCmd,
|
|
.gpio_clk_periph = RCC_AHB1Periph_GPIOC,
|
|
};
|
|
|
|
#endif /* PIOS_INCLUDE_SBUS */
|
|
|
|
#ifdef PIOS_INCLUDE_DSM
|
|
|
|
// It looks like TL notes originally came from OP's pios_dsm_main_cfg
|
|
// (TL note) Because of the inverter on the main port this will not
|
|
// (TL note) work. Notice the mode is set to IN to maintain API
|
|
// (TL note) compatibility but protect the pins
|
|
static const struct pios_dsm_cfg pios_dsm_rcvr_cfg = {
|
|
.bind = {
|
|
.gpio = GPIOC,
|
|
.init = {
|
|
.GPIO_Pin = GPIO_Pin_7,
|
|
.GPIO_Speed = GPIO_Speed_2MHz,
|
|
.GPIO_Mode = GPIO_Mode_OUT,
|
|
.GPIO_OType = GPIO_OType_PP,
|
|
.GPIO_PuPd = GPIO_PuPd_NOPULL
|
|
},
|
|
},
|
|
};
|
|
|
|
|
|
static const struct pios_usart_cfg pios_usart_dsm_rcvr_cfg = {
|
|
.regs = USART6,
|
|
.remap = GPIO_AF_USART6,
|
|
.init = {
|
|
.USART_BaudRate = 115200,
|
|
.USART_WordLength = USART_WordLength_8b,
|
|
.USART_Parity = USART_Parity_No,
|
|
.USART_StopBits = USART_StopBits_1,
|
|
.USART_HardwareFlowControl = USART_HardwareFlowControl_None,
|
|
.USART_Mode = USART_Mode_Rx,
|
|
},
|
|
.irq = {
|
|
.init = {
|
|
.NVIC_IRQChannel = USART6_IRQn,
|
|
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
|
|
.NVIC_IRQChannelSubPriority = 0,
|
|
.NVIC_IRQChannelCmd = ENABLE,
|
|
},
|
|
},
|
|
.rx = {
|
|
.gpio = GPIOC,
|
|
.init = {
|
|
.GPIO_Pin = GPIO_Pin_7,
|
|
.GPIO_Speed = GPIO_Speed_2MHz,
|
|
.GPIO_Mode = GPIO_Mode_AF,
|
|
.GPIO_OType = GPIO_OType_PP,
|
|
.GPIO_PuPd = GPIO_PuPd_UP
|
|
},
|
|
},
|
|
};
|
|
|
|
#endif /* PIOS_INCLUDE_DSM */
|
|
|
|
|
|
#if defined(PIOS_INCLUDE_COM)
|
|
|
|
#include <pios_com_priv.h>
|
|
|
|
#endif /* PIOS_INCLUDE_COM */
|
|
|
|
#if defined(PIOS_INCLUDE_I2C)
|
|
|
|
#include <pios_i2c_priv.h>
|
|
|
|
/*
|
|
* I2C Adapters
|
|
*/
|
|
void PIOS_i2c_mag_pressure_adapter_ev_irq_handler(void);
|
|
void PIOS_i2c_mag_pressure_adapter_er_irq_handler(void);
|
|
void I2C1_EV_IRQHandler()
|
|
__attribute__((alias("PIOS_i2c_mag_pressure_adapter_ev_irq_handler")));
|
|
void I2C1_ER_IRQHandler()
|
|
__attribute__((alias("PIOS_i2c_mag_pressure_adapter_er_irq_handler")));
|
|
|
|
static const struct pios_i2c_adapter_cfg pios_i2c_mag_pressure_adapter_cfg = {
|
|
.regs = I2C1,
|
|
.remapSCL = GPIO_AF_I2C1,
|
|
.remapSDA = GPIO_AF_I2C1,
|
|
.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_8,
|
|
.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_9,
|
|
.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 = I2C1_EV_IRQn,
|
|
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST,
|
|
.NVIC_IRQChannelSubPriority = 0,
|
|
.NVIC_IRQChannelCmd = ENABLE,
|
|
},
|
|
},
|
|
.error = {
|
|
.flags = 0, /* FIXME: check this */
|
|
.init = {
|
|
.NVIC_IRQChannel = I2C1_ER_IRQn,
|
|
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST,
|
|
.NVIC_IRQChannelSubPriority = 0,
|
|
.NVIC_IRQChannelCmd = ENABLE,
|
|
},
|
|
},
|
|
};
|
|
|
|
uint32_t pios_i2c_mag_pressure_adapter_id;
|
|
void PIOS_i2c_mag_pressure_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_mag_pressure_adapter_id);
|
|
}
|
|
|
|
void PIOS_i2c_mag_pressure_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_mag_pressure_adapter_id);
|
|
}
|
|
|
|
|
|
void PIOS_I2C_flexiport_adapter_ev_irq_handler(void);
|
|
void PIOS_I2C_flexiport_adapter_er_irq_handler(void);
|
|
void I2C2_EV_IRQHandler() __attribute__((alias("PIOS_I2C_flexiport_adapter_ev_irq_handler")));
|
|
void I2C2_ER_IRQHandler() __attribute__((alias("PIOS_I2C_flexiport_adapter_er_irq_handler")));
|
|
|
|
static const struct pios_i2c_adapter_cfg pios_i2c_flexiport_adapter_cfg = {
|
|
.regs = I2C2,
|
|
.remapSCL = GPIO_AF_I2C2,
|
|
.remapSDA = 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_flexiport_adapter_id;
|
|
void PIOS_I2C_flexiport_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_flexiport_adapter_id);
|
|
}
|
|
|
|
void PIOS_I2C_flexiport_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_flexiport_adapter_id);
|
|
}
|
|
|
|
|
|
void PIOS_i2c_mag_pressure_adapter_ev_irq_handler(void);
|
|
void PIOS_i2c_mag_pressure_adapter_er_irq_handler(void);
|
|
|
|
#endif /* PIOS_INCLUDE_I2C */
|
|
|
|
#if defined(PIOS_INCLUDE_RTC)
|
|
/*
|
|
* Realtime Clock (RTC)
|
|
*/
|
|
#include <pios_rtc_priv.h>
|
|
|
|
void PIOS_RTC_IRQ_Handler(void);
|
|
void RTC_WKUP_IRQHandler() __attribute__((alias("PIOS_RTC_IRQ_Handler")));
|
|
static const struct pios_rtc_cfg pios_rtc_main_cfg = {
|
|
.clksrc = RCC_RTCCLKSource_HSE_Div8, // Divide 8 Mhz crystal down to 1
|
|
// For some reason it's acting like crystal is 16 Mhz. This clock is then divided
|
|
// by another 16 to give a nominal 62.5 khz clock
|
|
.prescaler = 100, // Every 100 cycles gives 625 Hz
|
|
.irq = {
|
|
.init = {
|
|
.NVIC_IRQChannel = RTC_WKUP_IRQn,
|
|
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
|
|
.NVIC_IRQChannelSubPriority = 0,
|
|
.NVIC_IRQChannelCmd = ENABLE,
|
|
},
|
|
},
|
|
};
|
|
|
|
void PIOS_RTC_IRQ_Handler(void)
|
|
{
|
|
PIOS_RTC_irq_handler();
|
|
}
|
|
|
|
#endif /* if defined(PIOS_INCLUDE_RTC) */
|
|
|
|
#include "pios_tim_priv.h"
|
|
|
|
static const TIM_TimeBaseInitTypeDef tim_3_5_time_base = {
|
|
.TIM_Prescaler = (PIOS_PERIPHERAL_APB1_CLOCK / 1000000) - 1,
|
|
.TIM_ClockDivision = TIM_CKD_DIV1,
|
|
.TIM_CounterMode = TIM_CounterMode_Up,
|
|
.TIM_Period = ((1000000 / PIOS_SERVO_UPDATE_HZ) - 1),
|
|
.TIM_RepetitionCounter = 0x0000,
|
|
};
|
|
static const TIM_TimeBaseInitTypeDef tim_9_10_11_time_base = {
|
|
.TIM_Prescaler = (PIOS_PERIPHERAL_APB2_CLOCK / 1000000) - 1,
|
|
.TIM_ClockDivision = TIM_CKD_DIV1,
|
|
.TIM_CounterMode = TIM_CounterMode_Up,
|
|
.TIM_Period = ((1000000 / PIOS_SERVO_UPDATE_HZ) - 1),
|
|
.TIM_RepetitionCounter = 0x0000,
|
|
};
|
|
|
|
static const struct pios_tim_clock_cfg tim_2_cfg = {
|
|
.timer = TIM2,
|
|
.time_base_init = &tim_3_5_time_base,
|
|
.irq = {
|
|
.init = {
|
|
.NVIC_IRQChannel = TIM2_IRQn,
|
|
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
|
|
.NVIC_IRQChannelSubPriority = 0,
|
|
.NVIC_IRQChannelCmd = ENABLE,
|
|
},
|
|
},
|
|
};
|
|
|
|
static const struct pios_tim_clock_cfg tim_3_cfg = {
|
|
.timer = TIM3,
|
|
.time_base_init = &tim_3_5_time_base,
|
|
.irq = {
|
|
.init = {
|
|
.NVIC_IRQChannel = TIM3_IRQn,
|
|
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
|
|
.NVIC_IRQChannelSubPriority = 0,
|
|
.NVIC_IRQChannelCmd = ENABLE,
|
|
},
|
|
},
|
|
};
|
|
|
|
static const struct pios_tim_clock_cfg tim_5_cfg = {
|
|
.timer = TIM5,
|
|
.time_base_init = &tim_3_5_time_base,
|
|
.irq = {
|
|
.init = {
|
|
.NVIC_IRQChannel = TIM5_IRQn,
|
|
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
|
|
.NVIC_IRQChannelSubPriority = 0,
|
|
.NVIC_IRQChannelCmd = ENABLE,
|
|
},
|
|
},
|
|
};
|
|
|
|
static const struct pios_tim_clock_cfg tim_9_cfg = {
|
|
.timer = TIM9,
|
|
.time_base_init = &tim_9_10_11_time_base,
|
|
.irq = {
|
|
.init = {
|
|
.NVIC_IRQChannel = TIM1_BRK_TIM9_IRQn,
|
|
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
|
|
.NVIC_IRQChannelSubPriority = 0,
|
|
.NVIC_IRQChannelCmd = ENABLE,
|
|
},
|
|
},
|
|
};
|
|
|
|
static const struct pios_tim_clock_cfg tim_10_cfg = {
|
|
.timer = TIM10,
|
|
.time_base_init = &tim_9_10_11_time_base,
|
|
.irq = {
|
|
.init = {
|
|
.NVIC_IRQChannel = TIM1_UP_TIM10_IRQn,
|
|
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
|
|
.NVIC_IRQChannelSubPriority = 0,
|
|
.NVIC_IRQChannelCmd = ENABLE,
|
|
},
|
|
},
|
|
};
|
|
|
|
static const struct pios_tim_clock_cfg tim_11_cfg = {
|
|
.timer = TIM11,
|
|
.time_base_init = &tim_9_10_11_time_base,
|
|
.irq = {
|
|
.init = {
|
|
.NVIC_IRQChannel = TIM1_TRG_COM_TIM11_IRQn,
|
|
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
|
|
.NVIC_IRQChannelSubPriority = 0,
|
|
.NVIC_IRQChannelCmd = ENABLE,
|
|
},
|
|
},
|
|
};
|
|
|
|
// Set up timers that only have inputs on APB1
|
|
// TIM2,3,4,5,6,7,12,13,14
|
|
static const TIM_TimeBaseInitTypeDef tim_apb1_time_base = {
|
|
.TIM_Prescaler = (PIOS_PERIPHERAL_APB1_CLOCK / 1000000) - 1,
|
|
.TIM_ClockDivision = TIM_CKD_DIV1,
|
|
.TIM_CounterMode = TIM_CounterMode_Up,
|
|
.TIM_Period = 0xFFFF,
|
|
.TIM_RepetitionCounter = 0x0000,
|
|
};
|
|
|
|
|
|
// Set up timers that only have inputs on APB2
|
|
// TIM1,8,9,10,11
|
|
static const TIM_TimeBaseInitTypeDef tim_apb2_time_base = {
|
|
.TIM_Prescaler = (PIOS_PERIPHERAL_APB2_CLOCK / 1000000) - 1,
|
|
.TIM_ClockDivision = TIM_CKD_DIV1,
|
|
.TIM_CounterMode = TIM_CounterMode_Up,
|
|
.TIM_Period = 0xFFFF,
|
|
.TIM_RepetitionCounter = 0x0000,
|
|
};
|
|
|
|
static const struct pios_tim_clock_cfg tim_1_cfg = {
|
|
.timer = TIM1,
|
|
.time_base_init = &tim_apb2_time_base,
|
|
.irq = {
|
|
.init = {
|
|
.NVIC_IRQChannel = TIM1_CC_IRQn,
|
|
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
|
|
.NVIC_IRQChannelSubPriority = 0,
|
|
.NVIC_IRQChannelCmd = ENABLE,
|
|
},
|
|
},
|
|
};
|
|
|
|
static const struct pios_tim_clock_cfg tim_4_cfg = {
|
|
.timer = TIM4,
|
|
.time_base_init = &tim_apb1_time_base,
|
|
.irq = {
|
|
.init = {
|
|
.NVIC_IRQChannel = TIM4_IRQn,
|
|
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
|
|
.NVIC_IRQChannelSubPriority = 0,
|
|
.NVIC_IRQChannelCmd = ENABLE,
|
|
},
|
|
},
|
|
};
|
|
static const struct pios_tim_clock_cfg tim_8_cfg = {
|
|
.timer = TIM8,
|
|
.time_base_init = &tim_apb2_time_base,
|
|
.irq = {
|
|
.init = {
|
|
.NVIC_IRQChannel = TIM8_CC_IRQn,
|
|
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
|
|
.NVIC_IRQChannelSubPriority = 0,
|
|
.NVIC_IRQChannelCmd = ENABLE,
|
|
},
|
|
},
|
|
};
|
|
|
|
static const struct pios_tim_clock_cfg tim_12_cfg = {
|
|
.timer = TIM12,
|
|
.time_base_init = &tim_apb1_time_base,
|
|
.irq = {
|
|
.init = {
|
|
.NVIC_IRQChannel = TIM8_BRK_TIM12_IRQn,
|
|
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
|
|
.NVIC_IRQChannelSubPriority = 0,
|
|
.NVIC_IRQChannelCmd = ENABLE,
|
|
},
|
|
},
|
|
};
|
|
|
|
#include <pios_servo_priv.h>
|
|
#include <pios_servo_config.h>
|
|
static const struct pios_tim_channel dummmy_timer =
|
|
TIM_SERVO_CHANNEL_CONFIG(TIM9, 1, E, 5); // dummy unused timer + gpio. Hack to free tim1
|
|
|
|
/**
|
|
* Pios servo configuration structures
|
|
* Using TIM3, TIM9, TIM2, TIM5
|
|
*/
|
|
static const struct pios_tim_channel pios_tim_servoport_all_pins[] = {
|
|
TIM_SERVO_CHANNEL_CONFIG(TIM3, 3, B, 0),
|
|
TIM_SERVO_CHANNEL_CONFIG(TIM3, 4, B, 1),
|
|
TIM_SERVO_CHANNEL_CONFIG(TIM9, 2, A, 3),
|
|
TIM_SERVO_CHANNEL_CONFIG(TIM2, 3, A, 2),
|
|
TIM_SERVO_CHANNEL_CONFIG(TIM5, 2, A, 1),
|
|
TIM_SERVO_CHANNEL_CONFIG(TIM5, 1, A, 0),
|
|
|
|
// PWM pins on CONN7
|
|
TIM_SERVO_CHANNEL_CONFIG(TIM8, 4, C, 9),
|
|
TIM_SERVO_CHANNEL_CONFIG(TIM8, 3, C, 8),
|
|
TIM_SERVO_CHANNEL_CONFIG(TIM12, 2, B, 15),
|
|
TIM_SERVO_CHANNEL_CONFIG(TIM12, 1, B, 14),
|
|
};
|
|
|
|
#define PIOS_SERVOPORT_ALL_PINS_PWMOUT (NELEMENTS(pios_tim_servoport_all_pins))
|
|
|
|
const struct pios_servo_cfg pios_servo_cfg_out = {
|
|
.tim_oc_init = {
|
|
.TIM_OCMode = TIM_OCMode_PWM1,
|
|
.TIM_OutputState = TIM_OutputState_Enable,
|
|
.TIM_OutputNState = TIM_OutputNState_Disable,
|
|
.TIM_Pulse = PIOS_SERVOS_INITIAL_POSITION,
|
|
.TIM_OCPolarity = TIM_OCPolarity_High,
|
|
.TIM_OCNPolarity = TIM_OCPolarity_High,
|
|
.TIM_OCIdleState = TIM_OCIdleState_Reset,
|
|
.TIM_OCNIdleState = TIM_OCNIdleState_Reset,
|
|
},
|
|
.channels = pios_tim_servoport_all_pins,
|
|
.num_channels = PIOS_SERVOPORT_ALL_PINS_PWMOUT,
|
|
};
|
|
#if defined(PIOS_INCLUDE_PPM)
|
|
#include <pios_pwm_priv.h>
|
|
static const struct pios_tim_channel pios_tim_rcvr_all_channels[] = {
|
|
TIM_SERVO_CHANNEL_CONFIG(TIM8, 2, C, 7),
|
|
};
|
|
|
|
/*
|
|
* PPM Input
|
|
*/
|
|
|
|
#include <pios_ppm_priv.h>
|
|
static const struct pios_ppm_cfg pios_ppm_cfg = {
|
|
.tim_ic_init = {
|
|
.TIM_ICPolarity = TIM_ICPolarity_Rising,
|
|
.TIM_ICSelection = TIM_ICSelection_DirectTI,
|
|
.TIM_ICPrescaler = TIM_ICPSC_DIV1,
|
|
.TIM_ICFilter = 0x0,
|
|
.TIM_Channel = TIM_Channel_2,
|
|
},
|
|
/* Use only the first channel for ppm */
|
|
.channels = &pios_tim_rcvr_all_channels[0],
|
|
.num_channels = 1,
|
|
};
|
|
|
|
#endif // PPM
|
|
|
|
#if defined(PIOS_INCLUDE_GCSRCVR)
|
|
#include "pios_gcsrcvr_priv.h"
|
|
#endif /* PIOS_INCLUDE_GCSRCVR */
|
|
|
|
#if defined(PIOS_INCLUDE_RCVR)
|
|
#include "pios_rcvr_priv.h"
|
|
#endif /* PIOS_INCLUDE_RCVR */
|
|
|
|
#if defined(PIOS_INCLUDE_USB)
|
|
#include "pios_usb_priv.h"
|
|
|
|
static const struct pios_usb_cfg pios_usb_main_rm2_cfg = {
|
|
.irq = {
|
|
.init = {
|
|
.NVIC_IRQChannel = OTG_FS_IRQn,
|
|
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
|
|
.NVIC_IRQChannelSubPriority = 0, // PriorityGroup=4
|
|
.NVIC_IRQChannelCmd = ENABLE,
|
|
},
|
|
},
|
|
.vsense = {
|
|
.gpio = GPIOA,
|
|
.init = {
|
|
.GPIO_Pin = GPIO_Pin_8,
|
|
.GPIO_Speed = GPIO_Speed_25MHz,
|
|
.GPIO_Mode = GPIO_Mode_IN,
|
|
.GPIO_OType = GPIO_OType_OD,
|
|
},
|
|
},
|
|
.vsense_active_low = false
|
|
};
|
|
|
|
const struct pios_usb_cfg *PIOS_BOARD_HW_DEFS_GetUsbCfg(__attribute__((unused)) uint32_t board_revision)
|
|
{
|
|
return &pios_usb_main_rm2_cfg;
|
|
}
|
|
|
|
#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) && !defined(PIOS_INCLUDE_USB_CDC)
|
|
#include <pios_usb_hid_priv.h>
|
|
|
|
const struct pios_usb_hid_cfg pios_usb_hid_cfg = {
|
|
.data_if = 0,
|
|
.data_rx_ep = 1,
|
|
.data_tx_ep = 1,
|
|
};
|
|
#endif /* PIOS_INCLUDE_USB_HID && !PIOS_INCLUDE_USB_CDC */
|
|
|
|
#if defined(PIOS_INCLUDE_USB_HID) && 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,
|
|
};
|
|
|
|
#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 && PIOS_INCLUDE_USB_CDC */
|
|
|
|
#ifdef PIOS_INCLUDE_WS2811
|
|
#include <pios_ws2811_cfg.h>
|
|
#include <hwsettings.h>
|
|
#define PIOS_WS2811_TIM_DIVIDER (PIOS_PERIPHERAL_APB2_CLOCK / (800000 * PIOS_WS2811_TIM_PERIOD))
|
|
|
|
void DMA2_Stream1_IRQHandler(void) __attribute__((alias("PIOS_WS2811_irq_handler")));
|
|
// list of pin configurable as ws281x outputs.
|
|
// this will not clash with PWM in or servo output as
|
|
// pins will be reconfigured as _OUT so the alternate function is disabled.
|
|
const struct pios_ws2811_pin_cfg pios_ws2811_pin_cfg[] = {
|
|
[HWSETTINGS_WS2811LED_OUT_SERVOOUT1] = {
|
|
.gpio = GPIOB,
|
|
.gpioInit = {
|
|
.GPIO_Pin = GPIO_Pin_0,
|
|
.GPIO_Speed = GPIO_Speed_25MHz,
|
|
.GPIO_Mode = GPIO_Mode_OUT,
|
|
.GPIO_OType = GPIO_OType_PP,
|
|
},
|
|
},
|
|
[HWSETTINGS_WS2811LED_OUT_SERVOOUT2] = {
|
|
.gpio = GPIOB,
|
|
.gpioInit = {
|
|
.GPIO_Pin = GPIO_Pin_1,
|
|
.GPIO_Speed = GPIO_Speed_25MHz,
|
|
.GPIO_Mode = GPIO_Mode_OUT,
|
|
.GPIO_OType = GPIO_OType_PP,
|
|
},
|
|
},
|
|
[HWSETTINGS_WS2811LED_OUT_SERVOOUT3] = {
|
|
.gpio = GPIOA,
|
|
.gpioInit = {
|
|
.GPIO_Pin = GPIO_Pin_3,
|
|
.GPIO_Speed = GPIO_Speed_25MHz,
|
|
.GPIO_Mode = GPIO_Mode_OUT,
|
|
.GPIO_OType = GPIO_OType_PP,
|
|
},
|
|
},
|
|
[HWSETTINGS_WS2811LED_OUT_SERVOOUT4] = {
|
|
.gpio = GPIOA,
|
|
.gpioInit = {
|
|
.GPIO_Pin = GPIO_Pin_2,
|
|
.GPIO_Speed = GPIO_Speed_25MHz,
|
|
.GPIO_Mode = GPIO_Mode_OUT,
|
|
.GPIO_OType = GPIO_OType_PP,
|
|
},
|
|
},
|
|
[HWSETTINGS_WS2811LED_OUT_SERVOOUT5] = {
|
|
.gpio = GPIOA,
|
|
.gpioInit = {
|
|
.GPIO_Pin = GPIO_Pin_1,
|
|
.GPIO_Speed = GPIO_Speed_25MHz,
|
|
.GPIO_Mode = GPIO_Mode_OUT,
|
|
.GPIO_OType = GPIO_OType_PP,
|
|
},
|
|
},
|
|
[HWSETTINGS_WS2811LED_OUT_SERVOOUT6] = {
|
|
.gpio = GPIOA,
|
|
.gpioInit = {
|
|
.GPIO_Pin = GPIO_Pin_0,
|
|
.GPIO_Speed = GPIO_Speed_25MHz,
|
|
.GPIO_Mode = GPIO_Mode_OUT,
|
|
.GPIO_OType = GPIO_OType_PP,
|
|
},
|
|
},
|
|
};
|
|
|
|
const struct pios_ws2811_cfg pios_ws2811_cfg = {
|
|
.timer = TIM1,
|
|
.timerInit = {
|
|
.TIM_Prescaler = PIOS_WS2811_TIM_DIVIDER - 1,
|
|
.TIM_ClockDivision = TIM_CKD_DIV1,
|
|
.TIM_CounterMode = TIM_CounterMode_Up,
|
|
// period (1.25 uS per period
|
|
.TIM_Period = PIOS_WS2811_TIM_PERIOD,
|
|
.TIM_RepetitionCounter = 0x0000,
|
|
},
|
|
|
|
.timerCh1 = 1,
|
|
.streamCh1 = DMA2_Stream1,
|
|
.timerCh2 = 3,
|
|
.streamCh2 = DMA2_Stream6,
|
|
.streamUpdate = DMA2_Stream5,
|
|
|
|
// DMA streamCh1, triggered by timerCh1 pwm signal.
|
|
// if FrameBuffer indicates, reset output value early to indicate "0" bit to ws2812
|
|
.dmaInitCh1 = PIOS_WS2811_DMA_CH1_CONFIG(DMA_Channel_6),
|
|
.dmaItCh1 = DMA_IT_TEIF1 | DMA_IT_TCIF1,
|
|
|
|
// DMA streamCh2, triggered by timerCh2 pwm signal.
|
|
// Reset output value late to indicate "1" bit to ws2812.
|
|
.dmaInitCh2 = PIOS_WS2811_DMA_CH2_CONFIG(DMA_Channel_6),
|
|
.dmaItCh2 = DMA_IT_TEIF6 | DMA_IT_TCIF6,
|
|
|
|
// DMA streamUpdate Triggered by timer update event
|
|
// Outputs a high logic level at beginning of a cycle
|
|
.dmaInitUpdate = PIOS_WS2811_DMA_UPDATE_CONFIG(DMA_Channel_6),
|
|
.dmaItUpdate = DMA_IT_TEIF5 | DMA_IT_TCIF5,
|
|
.dmaSource = TIM_DMA_CC1 | TIM_DMA_CC3 | TIM_DMA_Update,
|
|
|
|
// DMAInitCh1 interrupt vector, used to block timer at end of framebuffer transfer
|
|
.irq = {
|
|
.flags = (DMA_IT_TCIF1),
|
|
.init = {
|
|
.NVIC_IRQChannel = DMA2_Stream1_IRQn,
|
|
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST,
|
|
.NVIC_IRQChannelSubPriority = 0,
|
|
.NVIC_IRQChannelCmd = ENABLE,
|
|
},
|
|
},
|
|
};
|
|
|
|
void PIOS_WS2811_irq_handler(void)
|
|
{
|
|
PIOS_WS2811_DMA_irq_handler();
|
|
}
|
|
#endif // PIOS_INCLUDE_WS2811
|