mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-12-03 11:24:10 +01:00
a2d8544931
to make the flight code compile again. Needs careful review, particularly all the fixes for the signed vs unsigned comparisons. +review OPReview-459
694 lines
16 KiB
C
694 lines
16 KiB
C
|
|
#if defined(PIOS_INCLUDE_LED)
|
|
|
|
#include <pios_led_priv.h>
|
|
static const struct pios_led pios_leds[] = {
|
|
[PIOS_LED_USB] = {
|
|
.pin = {
|
|
.gpio = GPIOA,
|
|
.init = {
|
|
.GPIO_Pin = GPIO_Pin_3,
|
|
.GPIO_Mode = GPIO_Mode_Out_PP,
|
|
.GPIO_Speed = GPIO_Speed_50MHz,
|
|
},
|
|
},
|
|
},
|
|
[PIOS_LED_LINK] = {
|
|
.pin = {
|
|
.gpio = GPIOB,
|
|
.init = {
|
|
.GPIO_Pin = GPIO_Pin_5,
|
|
.GPIO_Mode = GPIO_Mode_Out_PP,
|
|
.GPIO_Speed = GPIO_Speed_50MHz,
|
|
},
|
|
},
|
|
},
|
|
[PIOS_LED_RX] = {
|
|
.pin = {
|
|
.gpio = GPIOB,
|
|
.init = {
|
|
.GPIO_Pin = GPIO_Pin_6,
|
|
.GPIO_Mode = GPIO_Mode_Out_PP,
|
|
.GPIO_Speed = GPIO_Speed_50MHz,
|
|
},
|
|
},
|
|
},
|
|
[PIOS_LED_TX] = {
|
|
.pin = {
|
|
.gpio = GPIOB,
|
|
.init = {
|
|
.GPIO_Pin = GPIO_Pin_7,
|
|
.GPIO_Mode = GPIO_Mode_Out_PP,
|
|
.GPIO_Speed = GPIO_Speed_50MHz,
|
|
},
|
|
},
|
|
},
|
|
#ifdef PIOS_RFM22B_DEBUG_ON_TELEM
|
|
[PIOS_LED_D1] = {
|
|
.pin = {
|
|
.gpio = GPIOB,
|
|
.init = {
|
|
.GPIO_Pin = GPIO_Pin_14,
|
|
.GPIO_Mode = GPIO_Mode_Out_PP,
|
|
.GPIO_Speed = GPIO_Speed_50MHz,
|
|
},
|
|
},
|
|
},
|
|
[PIOS_LED_D2] = {
|
|
.pin = {
|
|
.gpio = GPIOB,
|
|
.init = {
|
|
.GPIO_Pin = GPIO_Pin_15,
|
|
.GPIO_Mode = GPIO_Mode_Out_PP,
|
|
.GPIO_Speed = GPIO_Speed_50MHz,
|
|
},
|
|
},
|
|
},
|
|
[PIOS_LED_D3] = {
|
|
.pin = {
|
|
.gpio = GPIOA,
|
|
.init = {
|
|
.GPIO_Pin = GPIO_Pin_9,
|
|
.GPIO_Mode = GPIO_Mode_Out_PP,
|
|
.GPIO_Speed = GPIO_Speed_50MHz,
|
|
},
|
|
},
|
|
},
|
|
[PIOS_LED_D4] = {
|
|
.pin = {
|
|
.gpio = GPIOA,
|
|
.init = {
|
|
.GPIO_Pin = GPIO_Pin_10,
|
|
.GPIO_Mode = GPIO_Mode_Out_PP,
|
|
.GPIO_Speed = GPIO_Speed_50MHz,
|
|
},
|
|
},
|
|
},
|
|
#endif
|
|
};
|
|
|
|
static const struct pios_led_cfg pios_led_cfg = {
|
|
.leds = pios_leds,
|
|
.num_leds = NELEMENTS(pios_leds),
|
|
};
|
|
|
|
const struct pios_led_cfg * PIOS_BOARD_HW_DEFS_GetLedCfg (__attribute__((unused)) uint32_t board_revision)
|
|
{
|
|
return &pios_led_cfg;
|
|
}
|
|
|
|
#endif /* PIOS_INCLUDE_LED */
|
|
|
|
#if defined(PIOS_INCLUDE_SPI)
|
|
|
|
#include <pios_spi_priv.h>
|
|
|
|
/* OP Interface
|
|
*
|
|
* NOTE: Leave this declared as const data so that it ends up in the
|
|
* .rodata section (ie. Flash) rather than in the .bss section (RAM).
|
|
*/
|
|
void PIOS_SPI_port_irq_handler(void);
|
|
void DMA1_Channel5_IRQHandler() __attribute__ ((alias ("PIOS_SPI_port_irq_handler")));
|
|
void DMA1_Channel4_IRQHandler() __attribute__ ((alias ("PIOS_SPI_port_irq_handler")));
|
|
|
|
static const struct pios_spi_cfg pios_spi_rfm22b_cfg =
|
|
{
|
|
.regs = SPI1,
|
|
|
|
.init =
|
|
{
|
|
.SPI_Mode = SPI_Mode_Master,
|
|
.SPI_Direction = SPI_Direction_2Lines_FullDuplex,
|
|
.SPI_DataSize = SPI_DataSize_8b,
|
|
.SPI_NSS = SPI_NSS_Soft,
|
|
.SPI_FirstBit = SPI_FirstBit_MSB,
|
|
.SPI_CRCPolynomial = 0,
|
|
.SPI_CPOL = SPI_CPOL_Low,
|
|
.SPI_CPHA = SPI_CPHA_1Edge,
|
|
.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_16, // slowest SCLK
|
|
},
|
|
.use_crc = FALSE,
|
|
|
|
.dma =
|
|
{
|
|
.ahb_clk = RCC_AHBPeriph_DMA1,
|
|
.irq =
|
|
{
|
|
.flags = (DMA1_FLAG_TC2 | DMA1_FLAG_TE2 | DMA1_FLAG_HT2 | DMA1_FLAG_GL2),
|
|
.init = {
|
|
.NVIC_IRQChannel = DMA1_Channel2_IRQn,
|
|
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
|
|
.NVIC_IRQChannelSubPriority = 0,
|
|
.NVIC_IRQChannelCmd = ENABLE,
|
|
},
|
|
},
|
|
|
|
.rx = {
|
|
.channel = DMA1_Channel2,
|
|
.init = {
|
|
.DMA_PeripheralBaseAddr = (uint32_t)&(SPI1->DR),
|
|
.DMA_DIR = DMA_DIR_PeripheralSRC,
|
|
.DMA_PeripheralInc = DMA_PeripheralInc_Disable,
|
|
.DMA_MemoryInc = DMA_MemoryInc_Enable,
|
|
.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
|
|
.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte,
|
|
.DMA_Mode = DMA_Mode_Normal,
|
|
.DMA_Priority = DMA_Priority_Medium,
|
|
.DMA_M2M = DMA_M2M_Disable,
|
|
},
|
|
},
|
|
.tx = {
|
|
.channel = DMA1_Channel3,
|
|
.init = {
|
|
.DMA_PeripheralBaseAddr = (uint32_t)&(SPI1->DR),
|
|
.DMA_DIR = DMA_DIR_PeripheralDST,
|
|
.DMA_PeripheralInc = DMA_PeripheralInc_Disable,
|
|
.DMA_MemoryInc = DMA_MemoryInc_Enable,
|
|
.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
|
|
.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte,
|
|
.DMA_Mode = DMA_Mode_Normal,
|
|
.DMA_Priority = DMA_Priority_Medium,
|
|
.DMA_M2M = DMA_M2M_Disable,
|
|
},
|
|
},
|
|
},
|
|
.slave_count = 1,
|
|
.ssel =
|
|
{{
|
|
.gpio = GPIOA,
|
|
.init =
|
|
{
|
|
.GPIO_Pin = GPIO_Pin_4,
|
|
.GPIO_Speed = GPIO_Speed_10MHz,
|
|
.GPIO_Mode = GPIO_Mode_Out_PP,
|
|
},
|
|
}},
|
|
.sclk =
|
|
{
|
|
.gpio = GPIOA,
|
|
.init =
|
|
{
|
|
.GPIO_Pin = GPIO_Pin_5,
|
|
.GPIO_Speed = GPIO_Speed_10MHz,
|
|
.GPIO_Mode = GPIO_Mode_AF_PP,
|
|
},
|
|
},
|
|
.miso =
|
|
{
|
|
.gpio = GPIOA,
|
|
.init =
|
|
{
|
|
.GPIO_Pin = GPIO_Pin_6,
|
|
.GPIO_Speed = GPIO_Speed_10MHz,
|
|
.GPIO_Mode = GPIO_Mode_IN_FLOATING,
|
|
},
|
|
},
|
|
.mosi =
|
|
{
|
|
.gpio = GPIOA,
|
|
.init =
|
|
{
|
|
.GPIO_Pin = GPIO_Pin_7,
|
|
.GPIO_Speed = GPIO_Speed_10MHz,
|
|
.GPIO_Mode = GPIO_Mode_AF_PP,
|
|
},
|
|
},
|
|
};
|
|
|
|
uint32_t pios_spi_rfm22b_id;
|
|
void PIOS_SPI_port_irq_handler(void)
|
|
{
|
|
/* Call into the generic code to handle the IRQ for this specific device */
|
|
PIOS_SPI_IRQ_Handler(pios_spi_rfm22b_id);
|
|
}
|
|
|
|
#endif /* PIOS_INCLUDE_SPI */
|
|
|
|
#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 = GPIOA,
|
|
.init = {
|
|
.GPIO_Pin = GPIO_Pin_2,
|
|
.GPIO_Mode = GPIO_Mode_IN_FLOATING,
|
|
},
|
|
},
|
|
.irq = {
|
|
.init = {
|
|
.NVIC_IRQChannel = EXTI2_IRQn,
|
|
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW,
|
|
.NVIC_IRQChannelSubPriority = 0,
|
|
.NVIC_IRQChannelCmd = ENABLE,
|
|
},
|
|
},
|
|
.exti = {
|
|
.init = {
|
|
.EXTI_Line = EXTI_Line2,
|
|
.EXTI_Mode = EXTI_Mode_Interrupt,
|
|
.EXTI_Trigger = EXTI_Trigger_Falling,
|
|
.EXTI_LineCmd = ENABLE,
|
|
},
|
|
},
|
|
};
|
|
|
|
#include <pios_rfm22b_priv.h>
|
|
|
|
struct pios_rfm22b_cfg pios_rfm22b_cfg = {
|
|
.spi_cfg = &pios_spi_rfm22b_cfg,
|
|
.exti_cfg = &pios_exti_rfm22b_cfg,
|
|
.RFXtalCap = 0x7f,
|
|
.slave_num = 0,
|
|
.gpio_direction = GPIO0_TX_GPIO1_RX,
|
|
};
|
|
|
|
//! Compatibility layer for various hardware revisions
|
|
const struct pios_rfm22b_cfg * PIOS_BOARD_HW_DEFS_GetRfm22Cfg (__attribute__((unused)) uint32_t board_revision)
|
|
{
|
|
return &pios_rfm22b_cfg;
|
|
}
|
|
|
|
#endif /* PIOS_INCLUDE_RFM22B */
|
|
|
|
#if defined(PIOS_INCLUDE_ADC)
|
|
|
|
/*
|
|
* ADC system
|
|
*/
|
|
#include "pios_adc_priv.h"
|
|
extern void PIOS_ADC_handler(void);
|
|
void DMA1_Channel1_IRQHandler() __attribute__ ((alias("PIOS_ADC_handler")));
|
|
// Remap the ADC DMA handler to this one
|
|
static const struct pios_adc_cfg pios_adc_cfg = {
|
|
.dma = {
|
|
.ahb_clk = RCC_AHBPeriph_DMA1,
|
|
.irq = {
|
|
.flags = (DMA1_FLAG_TC1 | DMA1_FLAG_TE1 | DMA1_FLAG_HT1 | DMA1_FLAG_GL1),
|
|
.init = {
|
|
.NVIC_IRQChannel = DMA1_Channel1_IRQn,
|
|
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
|
|
.NVIC_IRQChannelSubPriority = 0,
|
|
.NVIC_IRQChannelCmd = ENABLE,
|
|
},
|
|
},
|
|
.rx = {
|
|
.channel = DMA1_Channel1,
|
|
.init = {
|
|
.DMA_PeripheralBaseAddr = (uint32_t) & ADC1->DR,
|
|
.DMA_DIR = DMA_DIR_PeripheralSRC,
|
|
.DMA_PeripheralInc = DMA_PeripheralInc_Disable,
|
|
.DMA_MemoryInc = DMA_MemoryInc_Enable,
|
|
.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Word,
|
|
.DMA_MemoryDataSize = DMA_MemoryDataSize_Word,
|
|
.DMA_Mode = DMA_Mode_Circular,
|
|
.DMA_Priority = DMA_Priority_High,
|
|
.DMA_M2M = DMA_M2M_Disable,
|
|
},
|
|
}
|
|
},
|
|
.half_flag = DMA1_IT_HT1,
|
|
.full_flag = DMA1_IT_TC1,
|
|
};
|
|
|
|
struct pios_adc_dev pios_adc_devs[] = {
|
|
{
|
|
.cfg = &pios_adc_cfg,
|
|
.callback_function = NULL,
|
|
},
|
|
};
|
|
|
|
uint8_t pios_adc_num_devices = NELEMENTS(pios_adc_devs);
|
|
|
|
void PIOS_ADC_handler() {
|
|
PIOS_ADC_DMA_Handler();
|
|
}
|
|
|
|
#endif /* PIOS_INCLUDE_ADC */
|
|
|
|
#if defined(PIOS_INCLUDE_TIM)
|
|
|
|
#include "pios_tim_priv.h"
|
|
|
|
static const TIM_TimeBaseInitTypeDef tim_1_2_3_4_time_base = {
|
|
.TIM_Prescaler = (PIOS_MASTER_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_1_cfg = {
|
|
.timer = TIM1,
|
|
.time_base_init = &tim_1_2_3_4_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_2_cfg = {
|
|
.timer = TIM2,
|
|
.time_base_init = &tim_1_2_3_4_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_1_2_3_4_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_4_cfg = {
|
|
.timer = TIM4,
|
|
.time_base_init = &tim_1_2_3_4_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_channel pios_tim_ppm_flexi_port = {
|
|
.timer = TIM2,
|
|
.timer_chan = TIM_Channel_4,
|
|
.pin = {
|
|
.gpio = GPIOB,
|
|
.init = {
|
|
.GPIO_Pin = GPIO_Pin_11,
|
|
.GPIO_Mode = GPIO_Mode_IPD,
|
|
.GPIO_Speed = GPIO_Speed_2MHz,
|
|
},
|
|
},
|
|
.remap = GPIO_PartialRemap2_TIM2,
|
|
};
|
|
|
|
static const struct pios_tim_channel pios_tim_ppm_main_port = {
|
|
.timer = TIM1,
|
|
.timer_chan = TIM_Channel_2,
|
|
.pin = {
|
|
.gpio = GPIOA,
|
|
.init = {
|
|
.GPIO_Pin = GPIO_Pin_9,
|
|
.GPIO_Mode = GPIO_Mode_IPD,
|
|
.GPIO_Speed = GPIO_Speed_2MHz,
|
|
},
|
|
},
|
|
};
|
|
|
|
#endif /* PIOS_INCLUDE_TIM */
|
|
|
|
#if defined(PIOS_INCLUDE_USART)
|
|
|
|
#include <pios_usart_priv.h>
|
|
|
|
/*
|
|
* SERIAL USART
|
|
*/
|
|
static const struct pios_usart_cfg pios_usart_serial_cfg =
|
|
{
|
|
.regs = 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_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_IPU,
|
|
},
|
|
},
|
|
.tx =
|
|
{
|
|
.gpio = GPIOA,
|
|
.init =
|
|
{
|
|
.GPIO_Pin = GPIO_Pin_9,
|
|
.GPIO_Speed = GPIO_Speed_2MHz,
|
|
.GPIO_Mode = GPIO_Mode_AF_PP,
|
|
},
|
|
},
|
|
};
|
|
|
|
static const struct pios_usart_cfg pios_usart_telem_flexi_cfg = {
|
|
.regs = 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_IPU,
|
|
},
|
|
},
|
|
.tx = {
|
|
.gpio = GPIOB,
|
|
.init = {
|
|
.GPIO_Pin = GPIO_Pin_10,
|
|
.GPIO_Speed = GPIO_Speed_2MHz,
|
|
.GPIO_Mode = GPIO_Mode_AF_PP,
|
|
},
|
|
},
|
|
};
|
|
|
|
#endif /* PIOS_INCLUDE_USART */
|
|
|
|
#if defined(PIOS_INCLUDE_COM)
|
|
|
|
#include <pios_com_priv.h>
|
|
|
|
#endif /* PIOS_INCLUDE_COM */
|
|
|
|
#if defined(PIOS_INCLUDE_RTC)
|
|
/*
|
|
* Realtime Clock (RTC)
|
|
*/
|
|
#include <pios_rtc_priv.h>
|
|
|
|
void PIOS_RTC_IRQ_Handler (void);
|
|
void RTC_IRQHandler() __attribute__ ((alias ("PIOS_RTC_IRQ_Handler")));
|
|
static const struct pios_rtc_cfg pios_rtc_main_cfg = {
|
|
.clksrc = RCC_RTCCLKSource_HSE_Div128,
|
|
.prescaler = 100,
|
|
.irq = {
|
|
.init = {
|
|
.NVIC_IRQChannel = RTC_IRQn,
|
|
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
|
|
.NVIC_IRQChannelSubPriority = 0,
|
|
.NVIC_IRQChannelCmd = ENABLE,
|
|
},
|
|
},
|
|
};
|
|
|
|
void PIOS_RTC_IRQ_Handler (void)
|
|
{
|
|
PIOS_RTC_irq_handler ();
|
|
}
|
|
|
|
#endif
|
|
|
|
/*
|
|
* PPM Inputs
|
|
*/
|
|
#if defined(PIOS_INCLUDE_PPM)
|
|
#include <pios_ppm_priv.h>
|
|
|
|
const struct pios_ppm_cfg pios_ppm_flexi_cfg = {
|
|
.tim_ic_init = {
|
|
.TIM_ICPolarity = TIM_ICPolarity_Rising,
|
|
.TIM_ICSelection = TIM_ICSelection_DirectTI,
|
|
.TIM_ICPrescaler = TIM_ICPSC_DIV1,
|
|
.TIM_ICFilter = 0x0,
|
|
},
|
|
.channels = &pios_tim_ppm_flexi_port,
|
|
.num_channels = 1,
|
|
};
|
|
|
|
const struct pios_ppm_cfg pios_ppm_main_cfg = {
|
|
.tim_ic_init = {
|
|
.TIM_ICPolarity = TIM_ICPolarity_Rising,
|
|
.TIM_ICSelection = TIM_ICSelection_DirectTI,
|
|
.TIM_ICPrescaler = TIM_ICPSC_DIV1,
|
|
.TIM_ICFilter = 0x0,
|
|
},
|
|
.channels = &pios_tim_ppm_main_port,
|
|
.num_channels = 1,
|
|
};
|
|
|
|
#endif /* PIOS_INCLUDE_PPM */
|
|
|
|
/*
|
|
* PPM Output
|
|
*/
|
|
#if defined(PIOS_INCLUDE_PPM_OUT)
|
|
#include <pios_ppm_out_priv.h>
|
|
|
|
uint32_t pios_ppm_id;
|
|
|
|
static const struct pios_tim_channel pios_tim_ppmout[] = {
|
|
{
|
|
.timer = TIM2,
|
|
.timer_chan = TIM_Channel_3,
|
|
.pin = {
|
|
.gpio = GPIOB,
|
|
.init = {
|
|
.GPIO_Pin = GPIO_Pin_10,
|
|
.GPIO_Mode = GPIO_Mode_AF_PP,
|
|
.GPIO_Speed = GPIO_Speed_2MHz,
|
|
},
|
|
},
|
|
.remap = GPIO_FullRemap_TIM2,
|
|
}
|
|
};
|
|
|
|
const struct pios_ppm_out_cfg pios_ppm_out_cfg = {
|
|
.tim_oc_init = {
|
|
.TIM_OCMode = TIM_OCMode_PWM1,
|
|
.TIM_OutputState = TIM_OutputState_Enable,
|
|
.TIM_OutputNState = TIM_OutputNState_Disable,
|
|
.TIM_Pulse = PIOS_SERVOS_INITIAL_POSITION,
|
|
.TIM_OCPolarity = TIM_OCPolarity_Low,
|
|
.TIM_OCNPolarity = TIM_OCPolarity_Low,
|
|
.TIM_OCIdleState = TIM_OCIdleState_Reset,
|
|
.TIM_OCNIdleState = TIM_OCNIdleState_Reset,
|
|
},
|
|
.channel = pios_tim_ppmout,
|
|
};
|
|
|
|
#endif /* PIOS_INCLUDE_PPM_OUT */
|
|
|
|
#if defined(PIOS_INCLUDE_RCVR)
|
|
#include "pios_rcvr_priv.h"
|
|
|
|
#endif /* PIOS_INCLUDE_RCVR */
|
|
|
|
#if defined(PIOS_INCLUDE_USB)
|
|
#include "pios_usb_priv.h"
|
|
|
|
static const struct pios_usb_cfg pios_usb_main_cfg = {
|
|
.irq = {
|
|
.init = {
|
|
.NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn,
|
|
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW,
|
|
.NVIC_IRQChannelSubPriority = 0,
|
|
.NVIC_IRQChannelCmd = ENABLE,
|
|
},
|
|
},
|
|
.vsense = {
|
|
.gpio = GPIOA,
|
|
.init = {
|
|
.GPIO_Pin = GPIO_Pin_8,
|
|
.GPIO_Speed = GPIO_Speed_10MHz,
|
|
.GPIO_Mode = GPIO_Mode_AF_OD,
|
|
},
|
|
}
|
|
};
|
|
|
|
#include "pios_usb_board_data_priv.h"
|
|
#include "pios_usb_desc_hid_cdc_priv.h"
|
|
#include "pios_usb_desc_hid_only_priv.h"
|
|
|
|
#endif /* PIOS_INCLUDE_USB */
|
|
|
|
#if defined(PIOS_INCLUDE_COM_MSG)
|
|
|
|
#include <pios_com_msg_priv.h>
|
|
|
|
#endif /* PIOS_INCLUDE_COM_MSG */
|
|
|
|
#if defined(PIOS_INCLUDE_USB_HID)
|
|
#include <pios_usb_hid_priv.h>
|
|
|
|
const struct pios_usb_hid_cfg pios_usb_hid_cfg = {
|
|
.data_if = 2,
|
|
.data_rx_ep = 1,
|
|
.data_tx_ep = 1,
|
|
};
|
|
#endif /* PIOS_INCLUDE_USB_HID */
|
|
|
|
#if defined(PIOS_INCLUDE_USB_CDC)
|
|
#include <pios_usb_cdc_priv.h>
|
|
|
|
const struct pios_usb_cdc_cfg pios_usb_cdc_cfg = {
|
|
.ctrl_if = 0,
|
|
.ctrl_tx_ep = 2,
|
|
|
|
.data_if = 1,
|
|
.data_rx_ep = 3,
|
|
.data_tx_ep = 3,
|
|
};
|
|
#endif /* PIOS_INCLUDE_USB_CDC */
|
|
|
|
#if defined(PIOS_INCLUDE_FLASH_EEPROM)
|
|
#include <pios_eeprom.h>
|
|
|
|
const struct pios_eeprom_cfg pios_eeprom_cfg = {
|
|
.base_address = PIOS_FLASH_EEPROM_ADDR,
|
|
.max_size = PIOS_FLASH_EEPROM_LEN,
|
|
};
|
|
#endif /* PIOS_INCLUDE_FLASH_EEPROM */
|
|
|
|
#if defined(PIOS_INCLUDE_RFM22B)
|
|
#include <pios_rfm22b_priv.h>
|
|
|
|
#endif /* PIOS_INCLUDE_RFM22B */
|