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https://bitbucket.org/librepilot/librepilot.git
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1473 lines
50 KiB
C
1473 lines
50 KiB
C
/**
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******************************************************************************
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* @file board_hw_defs.c
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* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015.
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* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
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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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* @brief Defines board specific static initializers for hardware for the Revolution board.
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#include <pios.h>
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/* I/O mapping
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* I/O | PIN | Channel | Alternate function
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* I1 | PB10 | TIM2_CH3 | x
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* i2 | PB1 | TIM3_CH4 | ADC1_9
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* I3 | PB0 | TIM3_CH3 | ADC1_8
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* I4 | PA7 | TIM3_CH2 | SPI1_MOSI/ADC1_7
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* I5 | PA6 | TIM3_CH1 | SPI1_MISO/ADC1_6
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* I6 | PA5 | TIM2_CH1 | SPI1_SCK/ADC1_5
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*------------------------------------
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* o1 | PA10 | TIM1_CH3 | USART1_RX
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* o2 | PB3 | TIM2_CH2 | I2C2_SDA,
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* o3 | PB8 | TIM10_CH1
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* o4 | PB9 | TIM11_CH1
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* o5 | PA0 | TIM5_CH1 | ADC1_0
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* o6 | PA1 | TIM5_CH2 | ADC1_1
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*/
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#define MAIN_USART_REGS USART2
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#define MAIN_USART_REMAP GPIO_AF_USART2
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#define MAIN_USART_IRQ USART2_IRQn
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#define MAIN_USART_RX_GPIO GPIOA
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#define MAIN_USART_RX_PIN GPIO_Pin_3
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#define MAIN_USART_TX_GPIO GPIOA
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#define MAIN_USART_TX_PIN GPIO_Pin_2
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// Inverter for SBUS handling
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#define MAIN_USART_INVERTER_GPIO GPIOC
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#define MAIN_USART_INVERTER_PIN GPIO_Pin_15
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#define MAIN_USART_INVERTER_CLOCK_FUNC RCC_AHB1PeriphClockCmd
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#define MAIN_USART_INVERTER_CLOCK_PERIPH RCC_AHB1Periph_GPIOC
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#define FLEXI_USART_REGS USART1
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#define FLEXI_USART_REMAP GPIO_AF_USART1
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#define FLEXI_USART_IRQ USART1_IRQn
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#define FLEXI_USART_RX_GPIO GPIOB
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#define FLEXI_USART_RX_PIN GPIO_Pin_7
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#define FLEXI_USART_TX_GPIO GPIOB
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#define FLEXI_USART_TX_PIN GPIO_Pin_6
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// ReceiverPort pin 3
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#define FLEXI_USART_DTR_GPIO GPIOB
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#define FLEXI_USART_DTR_PIN GPIO_Pin_10
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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 = GPIOC,
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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_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_13,
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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_SPI)
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#include <pios_spi_priv.h>
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/*
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* SPI1 Interface
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* Used for MPU6000 gyro and accelerometer
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*/
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void PIOS_SPI_gyro_irq_handler(void);
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void DMA1_Stream3_IRQHandler(void) __attribute__((alias("PIOS_SPI_gyro_irq_handler")));
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void DMA1_Stream4_IRQHandler(void) __attribute__((alias("PIOS_SPI_gyro_irq_handler")));
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static const struct pios_spi_cfg pios_spi_gyro_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,
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},
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.use_crc = false,
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.dma = {
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.irq = {
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.flags = (DMA_IT_TCIF0 | DMA_IT_TEIF0 | DMA_IT_HTIF0),
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.init = {
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.NVIC_IRQChannel = DMA1_Stream4_IRQn,
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.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
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.NVIC_IRQChannelSubPriority = 0,
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.NVIC_IRQChannelCmd = ENABLE,
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},
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},
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.rx = {
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.channel = DMA1_Stream3,
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.init = {
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.DMA_Channel = DMA_Channel_0,
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.DMA_PeripheralBaseAddr = (uint32_t)&(SPI2->DR),
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.DMA_DIR = DMA_DIR_PeripheralToMemory,
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.DMA_PeripheralInc = DMA_PeripheralInc_Disable,
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.DMA_MemoryInc = DMA_MemoryInc_Enable,
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.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
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.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte,
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.DMA_Mode = DMA_Mode_Normal,
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.DMA_Priority = DMA_Priority_Medium,
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.DMA_FIFOMode = DMA_FIFOMode_Disable,
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/* .DMA_FIFOThreshold */
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.DMA_MemoryBurst = DMA_MemoryBurst_Single,
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.DMA_PeripheralBurst = DMA_PeripheralBurst_Single,
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},
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},
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.tx = {
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.channel = 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_High,
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.DMA_FIFOMode = DMA_FIFOMode_Disable,
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/* .DMA_FIFOThreshold */
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.DMA_MemoryBurst = DMA_MemoryBurst_Single,
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.DMA_PeripheralBurst = DMA_PeripheralBurst_Single,
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},
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},
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},
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.sclk = {
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.gpio = GPIOB,
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.init = {
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.GPIO_Pin = GPIO_Pin_13,
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.GPIO_Speed = GPIO_Speed_100MHz,
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.GPIO_Mode = GPIO_Mode_AF,
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.GPIO_OType = GPIO_OType_PP,
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.GPIO_PuPd = GPIO_PuPd_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_gyro_id;
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void PIOS_SPI_gyro_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_gyro_id);
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}
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#endif /* PIOS_INCLUDE_SPI */
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#include <pios_usart_priv.h>
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#ifdef PIOS_INCLUDE_COM_TELEM
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/*
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* MAIN USART
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*/
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static const struct pios_usart_cfg pios_usart_main_cfg = {
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.regs = MAIN_USART_REGS,
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.remap = MAIN_USART_REMAP,
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.init = {
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.USART_BaudRate = 57600,
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.USART_WordLength = USART_WordLength_8b,
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.USART_Parity = USART_Parity_No,
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.USART_StopBits = USART_StopBits_1,
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.USART_HardwareFlowControl = USART_HardwareFlowControl_None,
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.USART_Mode = USART_Mode_Rx | USART_Mode_Tx,
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},
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.irq = {
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.init = {
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.NVIC_IRQChannel = MAIN_USART_IRQ,
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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 = MAIN_USART_RX_GPIO,
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.init = {
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.GPIO_Pin = MAIN_USART_RX_PIN,
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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 = MAIN_USART_TX_GPIO,
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.init = {
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.GPIO_Pin = MAIN_USART_TX_PIN,
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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_COM_TELEM */
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#ifdef PIOS_INCLUDE_DSM
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#include "pios_dsm_priv.h"
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static const struct pios_usart_cfg pios_usart_dsm_main_cfg = {
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.regs = MAIN_USART_REGS,
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.remap = MAIN_USART_REMAP,
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.init = {
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.USART_BaudRate = 115200,
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.USART_WordLength = USART_WordLength_8b,
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.USART_Parity = USART_Parity_No,
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.USART_StopBits = USART_StopBits_1,
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.USART_HardwareFlowControl = USART_HardwareFlowControl_None,
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.USART_Mode = USART_Mode_Rx,
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},
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.irq = {
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.init = {
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.NVIC_IRQChannel = MAIN_USART_IRQ,
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.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
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.NVIC_IRQChannelSubPriority = 0,
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.NVIC_IRQChannelCmd = ENABLE,
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},
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},
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.rx = {
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.gpio = MAIN_USART_RX_GPIO,
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.init = {
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.GPIO_Pin = MAIN_USART_RX_PIN,
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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 = MAIN_USART_TX_GPIO,
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.init = {
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.GPIO_Pin = MAIN_USART_TX_PIN,
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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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// Because of the inverter on the main port this will not
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// work. Notice the mode is set to IN to maintain API
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// compatibility but protect the pins
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static const struct pios_dsm_cfg pios_dsm_main_cfg = {
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.bind = {
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.gpio = MAIN_USART_RX_GPIO,
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.init = {
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.GPIO_Pin = MAIN_USART_RX_PIN,
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.GPIO_Speed = GPIO_Speed_2MHz,
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.GPIO_Mode = GPIO_Mode_IN,
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.GPIO_OType = GPIO_OType_PP,
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.GPIO_PuPd = GPIO_PuPd_NOPULL
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},
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},
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};
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#endif /* PIOS_INCLUDE_DSM */
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#include <pios_sbus_priv.h>
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#if defined(PIOS_INCLUDE_SBUS)
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/*
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* S.Bus USART
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*/
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#include <pios_sbus_priv.h>
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static const struct pios_usart_cfg pios_usart_sbus_main_cfg = {
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.regs = MAIN_USART_REGS,
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.remap = MAIN_USART_REMAP,
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.init = {
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.USART_BaudRate = 99999,
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.USART_WordLength = USART_WordLength_8b,
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.USART_Parity = USART_Parity_Even,
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.USART_StopBits = USART_StopBits_2,
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.USART_HardwareFlowControl = USART_HardwareFlowControl_None,
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.USART_Mode = USART_Mode_Rx,
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},
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.irq = {
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.init = {
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.NVIC_IRQChannel = MAIN_USART_IRQ,
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.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
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.NVIC_IRQChannelSubPriority = 0,
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.NVIC_IRQChannelCmd = ENABLE,
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},
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},
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.rx = {
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.gpio = MAIN_USART_RX_GPIO,
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.init = {
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.GPIO_Pin = MAIN_USART_RX_PIN,
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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 = MAIN_USART_TX_GPIO,
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.init = {
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.GPIO_Pin = MAIN_USART_TX_PIN,
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.GPIO_Speed = GPIO_Speed_2MHz,
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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_NOPULL
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},
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},
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};
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#endif /* PIOS_INCLUDE_SBUS */
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// Need this defined regardless to be able to turn it off
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static const struct pios_sbus_cfg pios_sbus_cfg = {
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/* Inverter configuration */
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.inv = {
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.gpio = MAIN_USART_INVERTER_GPIO,
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.init = {
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.GPIO_Pin = MAIN_USART_INVERTER_PIN,
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.GPIO_Speed = GPIO_Speed_2MHz,
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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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.gpio_inv_enable = Bit_SET,
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.gpio_inv_disable = Bit_RESET,
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.gpio_clk_func = MAIN_USART_INVERTER_CLOCK_FUNC,
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.gpio_clk_periph = MAIN_USART_INVERTER_CLOCK_PERIPH,
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};
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#ifdef PIOS_INCLUDE_COM_FLEXI
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/*
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* FLEXI PORT
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*/
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static const struct pios_usart_cfg pios_usart_flexi_cfg = {
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.regs = FLEXI_USART_REGS,
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.remap = FLEXI_USART_REMAP,
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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 = FLEXI_USART_IRQ,
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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 = FLEXI_USART_RX_GPIO,
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.init = {
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.GPIO_Pin = FLEXI_USART_RX_PIN,
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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 = FLEXI_USART_TX_GPIO,
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.init = {
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.GPIO_Pin = FLEXI_USART_TX_PIN,
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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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},
|
|
},
|
|
.dtr = {
|
|
.gpio = FLEXI_USART_DTR_GPIO,
|
|
.init = {
|
|
.GPIO_Pin = FLEXI_USART_DTR_PIN,
|
|
.GPIO_Speed = GPIO_Speed_25MHz,
|
|
.GPIO_Mode = GPIO_Mode_OUT,
|
|
.GPIO_OType = GPIO_OType_PP,
|
|
},
|
|
},
|
|
};
|
|
|
|
#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 = FLEXI_USART_REGS,
|
|
.remap = FLEXI_USART_REMAP,
|
|
.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 = FLEXI_USART_IRQ,
|
|
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
|
|
.NVIC_IRQChannelSubPriority = 0,
|
|
.NVIC_IRQChannelCmd = ENABLE,
|
|
},
|
|
},
|
|
.rx = {
|
|
.gpio = FLEXI_USART_RX_GPIO,
|
|
.init = {
|
|
.GPIO_Pin = FLEXI_USART_RX_PIN,
|
|
.GPIO_Speed = GPIO_Speed_2MHz,
|
|
.GPIO_Mode = GPIO_Mode_AF,
|
|
.GPIO_OType = GPIO_OType_PP,
|
|
.GPIO_PuPd = GPIO_PuPd_UP
|
|
},
|
|
},
|
|
.tx = {
|
|
.gpio = FLEXI_USART_TX_GPIO,
|
|
.init = {
|
|
.GPIO_Pin = FLEXI_USART_TX_PIN,
|
|
.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 = FLEXI_USART_RX_GPIO,
|
|
.init = {
|
|
.GPIO_Pin = FLEXI_USART_RX_PIN,
|
|
.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_HOTT)
|
|
/*
|
|
* HOTT USART
|
|
*/
|
|
#include <pios_hott_priv.h>
|
|
|
|
static const struct pios_usart_cfg pios_usart_hott_flexi_cfg = {
|
|
.regs = FLEXI_USART_REGS,
|
|
.remap = FLEXI_USART_REMAP,
|
|
.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 = FLEXI_USART_IRQ,
|
|
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
|
|
.NVIC_IRQChannelSubPriority = 0,
|
|
.NVIC_IRQChannelCmd = ENABLE,
|
|
},
|
|
},
|
|
.rx = {
|
|
.gpio = FLEXI_USART_RX_GPIO,
|
|
.init = {
|
|
.GPIO_Pin = FLEXI_USART_RX_PIN,
|
|
.GPIO_Speed = GPIO_Speed_2MHz,
|
|
.GPIO_Mode = GPIO_Mode_AF,
|
|
.GPIO_OType = GPIO_OType_PP,
|
|
.GPIO_PuPd = GPIO_PuPd_UP
|
|
},
|
|
},
|
|
.tx = {
|
|
.gpio = FLEXI_USART_TX_GPIO,
|
|
.init = {
|
|
.GPIO_Pin = FLEXI_USART_TX_PIN,
|
|
.GPIO_Speed = GPIO_Speed_2MHz,
|
|
.GPIO_Mode = GPIO_Mode_OUT,
|
|
.GPIO_OType = GPIO_OType_PP,
|
|
.GPIO_PuPd = GPIO_PuPd_UP
|
|
},
|
|
},
|
|
};
|
|
|
|
#endif /* PIOS_INCLUDE_HOTT */
|
|
|
|
#if defined(PIOS_INCLUDE_SRXL)
|
|
/*
|
|
* SRXL USART
|
|
*/
|
|
#include <pios_srxl_priv.h>
|
|
|
|
static const struct pios_usart_cfg pios_usart_srxl_flexi_cfg = {
|
|
.regs = FLEXI_USART_REGS,
|
|
.remap = FLEXI_USART_REMAP,
|
|
.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 = FLEXI_USART_IRQ,
|
|
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
|
|
.NVIC_IRQChannelSubPriority = 0,
|
|
.NVIC_IRQChannelCmd = ENABLE,
|
|
},
|
|
},
|
|
.rx = {
|
|
.gpio = FLEXI_USART_RX_GPIO,
|
|
.init = {
|
|
.GPIO_Pin = FLEXI_USART_RX_PIN,
|
|
.GPIO_Speed = GPIO_Speed_2MHz,
|
|
.GPIO_Mode = GPIO_Mode_AF,
|
|
.GPIO_OType = GPIO_OType_PP,
|
|
.GPIO_PuPd = GPIO_PuPd_UP
|
|
},
|
|
},
|
|
.tx = {
|
|
.gpio = FLEXI_USART_TX_GPIO,
|
|
.init = {
|
|
.GPIO_Pin = FLEXI_USART_TX_PIN,
|
|
.GPIO_Speed = GPIO_Speed_2MHz,
|
|
.GPIO_Mode = GPIO_Mode_OUT,
|
|
.GPIO_OType = GPIO_OType_PP,
|
|
.GPIO_PuPd = GPIO_PuPd_UP
|
|
},
|
|
},
|
|
};
|
|
|
|
#endif /* PIOS_INCLUDE_SRXL */
|
|
|
|
#if defined(PIOS_INCLUDE_IBUS)
|
|
/*
|
|
* IBUS USART
|
|
*/
|
|
#include <pios_ibus_priv.h>
|
|
|
|
static const struct pios_usart_cfg pios_usart_ibus_flexi_cfg = {
|
|
.regs = FLEXI_USART_REGS,
|
|
.remap = FLEXI_USART_REMAP,
|
|
.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 = FLEXI_USART_IRQ,
|
|
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
|
|
.NVIC_IRQChannelSubPriority = 0,
|
|
.NVIC_IRQChannelCmd = ENABLE,
|
|
},
|
|
},
|
|
.rx = {
|
|
.gpio = FLEXI_USART_RX_GPIO,
|
|
.init = {
|
|
.GPIO_Pin = FLEXI_USART_RX_PIN,
|
|
.GPIO_Speed = GPIO_Speed_2MHz,
|
|
.GPIO_Mode = GPIO_Mode_AF,
|
|
.GPIO_OType = GPIO_OType_PP,
|
|
.GPIO_PuPd = GPIO_PuPd_UP
|
|
},
|
|
},
|
|
.tx = {
|
|
.gpio = FLEXI_USART_TX_GPIO,
|
|
.init = {
|
|
.GPIO_Pin = FLEXI_USART_TX_PIN,
|
|
.GPIO_Speed = GPIO_Speed_2MHz,
|
|
.GPIO_Mode = GPIO_Mode_OUT,
|
|
.GPIO_OType = GPIO_OType_PP,
|
|
.GPIO_PuPd = GPIO_PuPd_UP
|
|
},
|
|
},
|
|
};
|
|
|
|
#endif /* PIOS_INCLUDE_IBUS */
|
|
|
|
#if defined(PIOS_INCLUDE_EXBUS)
|
|
/*
|
|
* EXBUS USART
|
|
*/
|
|
#include <pios_exbus_priv.h>
|
|
|
|
static const struct pios_usart_cfg pios_usart_exbus_flexi_cfg = {
|
|
.regs = FLEXI_USART_REGS,
|
|
.remap = FLEXI_USART_REMAP,
|
|
.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 = FLEXI_USART_IRQ,
|
|
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
|
|
.NVIC_IRQChannelSubPriority = 0,
|
|
.NVIC_IRQChannelCmd = ENABLE,
|
|
},
|
|
},
|
|
.rx = {
|
|
.gpio = FLEXI_USART_RX_GPIO,
|
|
.init = {
|
|
.GPIO_Pin = FLEXI_USART_RX_PIN,
|
|
.GPIO_Speed = GPIO_Speed_2MHz,
|
|
.GPIO_Mode = GPIO_Mode_AF,
|
|
.GPIO_OType = GPIO_OType_PP,
|
|
.GPIO_PuPd = GPIO_PuPd_UP
|
|
},
|
|
},
|
|
.tx = {
|
|
.gpio = FLEXI_USART_TX_GPIO,
|
|
.init = {
|
|
.GPIO_Pin = FLEXI_USART_TX_PIN,
|
|
.GPIO_Speed = GPIO_Speed_2MHz,
|
|
.GPIO_Mode = GPIO_Mode_OUT,
|
|
.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 = MAIN_USART_REGS,
|
|
.remap = MAIN_USART_REMAP,
|
|
.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 = MAIN_USART_IRQ,
|
|
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
|
|
.NVIC_IRQChannelSubPriority = 0,
|
|
.NVIC_IRQChannelCmd = ENABLE,
|
|
},
|
|
},
|
|
.rx = {
|
|
.gpio = MAIN_USART_RX_GPIO,
|
|
.init = {
|
|
.GPIO_Pin = MAIN_USART_RX_PIN,
|
|
.GPIO_Speed = GPIO_Speed_2MHz,
|
|
.GPIO_Mode = GPIO_Mode_AF,
|
|
.GPIO_OType = GPIO_OType_PP,
|
|
.GPIO_PuPd = GPIO_PuPd_UP
|
|
},
|
|
},
|
|
.tx = {
|
|
.gpio = MAIN_USART_TX_GPIO,
|
|
.init = {
|
|
.GPIO_Pin = MAIN_USART_TX_PIN,
|
|
.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 = FLEXI_USART_REGS,
|
|
.remap = FLEXI_USART_REMAP,
|
|
.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 = FLEXI_USART_IRQ,
|
|
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
|
|
.NVIC_IRQChannelSubPriority = 0,
|
|
.NVIC_IRQChannelCmd = ENABLE,
|
|
},
|
|
},
|
|
.rx = {
|
|
.gpio = FLEXI_USART_RX_GPIO,
|
|
.init = {
|
|
.GPIO_Pin = FLEXI_USART_RX_PIN,
|
|
.GPIO_Speed = GPIO_Speed_2MHz,
|
|
.GPIO_Mode = GPIO_Mode_AF,
|
|
.GPIO_OType = GPIO_OType_PP,
|
|
.GPIO_PuPd = GPIO_PuPd_UP
|
|
},
|
|
},
|
|
.tx = {
|
|
.gpio = FLEXI_USART_TX_GPIO,
|
|
.init = {
|
|
.GPIO_Pin = FLEXI_USART_TX_PIN,
|
|
.GPIO_Speed = GPIO_Speed_2MHz,
|
|
.GPIO_Mode = GPIO_Mode_AF,
|
|
.GPIO_OType = GPIO_OType_PP,
|
|
.GPIO_PuPd = GPIO_PuPd_UP
|
|
},
|
|
},
|
|
};
|
|
|
|
#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_pressure_adapter_ev_irq_handler(void);
|
|
void PIOS_I2C_pressure_adapter_er_irq_handler(void);
|
|
void I2C3_EV_IRQHandler()
|
|
__attribute__((alias("PIOS_I2C_pressure_adapter_ev_irq_handler")));
|
|
void I2C3_ER_IRQHandler()
|
|
__attribute__((alias("PIOS_I2C_pressure_adapter_er_irq_handler")));
|
|
|
|
static const struct pios_i2c_adapter_cfg pios_i2c_pressure_adapter_cfg = {
|
|
.regs = I2C3,
|
|
.remapSCL = GPIO_AF_I2C3,
|
|
.remapSDA = GPIO_AF9_I2C3,
|
|
.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 = GPIOA,
|
|
.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_4,
|
|
.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 = I2C3_EV_IRQn,
|
|
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST,
|
|
.NVIC_IRQChannelSubPriority = 0,
|
|
.NVIC_IRQChannelCmd = ENABLE,
|
|
},
|
|
},
|
|
.error = {
|
|
.flags = 0, /* FIXME: check this */
|
|
.init = {
|
|
.NVIC_IRQChannel = I2C3_ER_IRQn,
|
|
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST,
|
|
.NVIC_IRQChannelSubPriority = 0,
|
|
.NVIC_IRQChannelCmd = ENABLE,
|
|
},
|
|
},
|
|
};
|
|
|
|
uint32_t pios_i2c_pressure_adapter_id;
|
|
void PIOS_I2C_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_pressure_adapter_id);
|
|
}
|
|
|
|
void PIOS_I2C_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_pressure_adapter_id);
|
|
}
|
|
|
|
|
|
void PIOS_I2C_flexiport_adapter_ev_irq_handler(void);
|
|
void PIOS_I2C_flexiport_adapter_er_irq_handler(void);
|
|
void I2C1_EV_IRQHandler() __attribute__((alias("PIOS_I2C_flexiport_adapter_ev_irq_handler")));
|
|
void I2C1_ER_IRQHandler() __attribute__((alias("PIOS_I2C_flexiport_adapter_er_irq_handler")));
|
|
|
|
static const struct pios_i2c_adapter_cfg pios_i2c_flexiport_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_6,
|
|
.GPIO_Mode = GPIO_Mode_AF,
|
|
.GPIO_Speed = GPIO_Speed_50MHz,
|
|
.GPIO_OType = GPIO_OType_OD,
|
|
.GPIO_PuPd = GPIO_PuPd_UP,
|
|
},
|
|
},
|
|
.sda = {
|
|
.gpio = GPIOB,
|
|
.init = {
|
|
.GPIO_Pin = GPIO_Pin_7,
|
|
.GPIO_Mode = GPIO_Mode_AF,
|
|
.GPIO_Speed = GPIO_Speed_50MHz,
|
|
.GPIO_OType = GPIO_OType_OD,
|
|
.GPIO_PuPd = GPIO_PuPd_UP,
|
|
},
|
|
},
|
|
.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_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);
|
|
}
|
|
|
|
|
|
#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_2_3_4_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_1_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_2_3_4_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_2_3_4_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_2_3_4_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_1_cfg = {
|
|
.timer = TIM1,
|
|
.time_base_init = &tim_1_9_10_11_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_9_cfg = {
|
|
.timer = TIM9,
|
|
.time_base_init = &tim_1_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_1_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_1_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
|
|
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
|
|
// TIM1,9,10,11
|
|
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_3_cfg = {
|
|
.timer = TIM3,
|
|
.time_base_init = &tim_apb1_time_base,
|
|
.irq = {
|
|
.init = {
|
|
.NVIC_IRQChannel = TIM3_IRQn,
|
|
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
|
|
.NVIC_IRQChannelSubPriority = 0,
|
|
.NVIC_IRQChannelCmd = ENABLE,
|
|
},
|
|
},
|
|
};
|
|
|
|
|
|
/**
|
|
* Pios servo configuration structures
|
|
* I/O | PIN | Channel | Alternate function
|
|
* I1 | PB10 | TIM2_CH3 | x
|
|
* i2 | PB1 | TIM3_CH4 | ADC1_9
|
|
* I3 | PB0 | TIM3_CH3 | ADC1_8
|
|
* I4 | PA7 | TIM3_CH2 | SPI1_MOSI/ADC1_7
|
|
* I5 | PA6 | TIM3_CH1 | SPI1_MISO/ADC1_6
|
|
* I6 | PA5 | TIM2_CH1 | SPI1_SCK/ADC1_5
|
|
*------------------------------------
|
|
* o1 | PA10 | TIM1_CH3 | USART1_RX
|
|
* o2 | PB3 | TIM2_CH2 | I2C2_SDA,
|
|
* o3 | PB8 | TIM10_CH1
|
|
* o4 | PB9 | TIM11_CH1
|
|
* o5 | PA0 | TIM5_CH1 | ADC1_0
|
|
* o6 | PA1 | TIM5_CH2 | ADC1_1
|
|
*/
|
|
#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
|
|
|
|
static struct pios_tim_channel pios_tim_servoport_all_pins[] = {
|
|
// TIMER, CHANNEL, GPIO, PIN
|
|
TIM_SERVO_CHANNEL_CONFIG(TIM1, 3, A, 10),
|
|
TIM_SERVO_CHANNEL_CONFIG(TIM2, 2, B, 3),
|
|
TIM_SERVO_CHANNEL_CONFIG(TIM10, 1, B, 8),
|
|
TIM_SERVO_CHANNEL_CONFIG(TIM11, 1, B, 9),
|
|
TIM_SERVO_CHANNEL_CONFIG(TIM5, 1, A, 0),
|
|
TIM_SERVO_CHANNEL_CONFIG(TIM5, 2, A, 1),
|
|
// PWM pins on FlexiIO(receiver) port
|
|
TIM_SERVO_CHANNEL_CONFIG(TIM2, 3, B, 10),
|
|
TIM_SERVO_CHANNEL_CONFIG(TIM3, 3, B, 0),
|
|
TIM_SERVO_CHANNEL_CONFIG(TIM3, 2, A, 7),
|
|
TIM_SERVO_CHANNEL_CONFIG(TIM3, 1, A, 6),
|
|
TIM_SERVO_CHANNEL_CONFIG(TIM2, 1, A, 5),
|
|
TIM_SERVO_CHANNEL_CONFIG(TIM3, 4, B, 1),
|
|
};
|
|
|
|
#define PIOS_SERVOPORT_ALL_PINS_PWMOUT 6
|
|
#define PIOS_SERVOPORT_ALL_PINS_PWMOUT_IN (NELEMENTS(pios_tim_servoport_all_pins))
|
|
#define PIOS_SERVOPORT_ALL_PINS_PWMOUT_IN_PPM (PIOS_SERVOPORT_ALL_PINS_PWMOUT_IN - 1)
|
|
|
|
|
|
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,
|
|
};
|
|
// All servo outputs, servo input ch1 ppm, ch2-6 outputs
|
|
const struct pios_servo_cfg pios_servo_cfg_out_in_ppm = {
|
|
.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_IN_PPM,
|
|
};
|
|
// All servo outputs, servo inputs ch1-6 Outputs
|
|
const struct pios_servo_cfg pios_servo_cfg_out_in = {
|
|
.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_IN,
|
|
};
|
|
|
|
|
|
/*
|
|
* PWM Inputs
|
|
* TIM1, TIM8, TIM12
|
|
*/
|
|
#if defined(PIOS_INCLUDE_PWM) || defined(PIOS_INCLUDE_PPM)
|
|
#include <pios_pwm_priv.h>
|
|
static const struct pios_tim_channel pios_tim_rcvrport_all_channels[] = {
|
|
TIM_SERVO_CHANNEL_CONFIG(TIM2, 3, B, 10),
|
|
TIM_SERVO_CHANNEL_CONFIG(TIM3, 4, B, 1),
|
|
TIM_SERVO_CHANNEL_CONFIG(TIM3, 3, B, 0),
|
|
TIM_SERVO_CHANNEL_CONFIG(TIM3, 2, A, 7),
|
|
TIM_SERVO_CHANNEL_CONFIG(TIM3, 1, A, 6),
|
|
TIM_SERVO_CHANNEL_CONFIG(TIM2, 1, A, 5),
|
|
};
|
|
|
|
const struct pios_pwm_cfg pios_pwm_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_rcvrport_all_channels,
|
|
.num_channels = NELEMENTS(pios_tim_rcvrport_all_channels),
|
|
};
|
|
|
|
#endif /* if defined(PIOS_INCLUDE_PWM) || defined(PIOS_INCLUDE_PPM) */
|
|
|
|
/*
|
|
* PPM Input
|
|
*/
|
|
#if defined(PIOS_INCLUDE_PPM)
|
|
#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_4,
|
|
},
|
|
/* Use only the second channel for ppm */
|
|
.channels = &pios_tim_servoport_all_pins[PIOS_SERVOPORT_ALL_PINS_PWMOUT_IN - 1],
|
|
.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_rnano_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_9,
|
|
.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(uint32_t board_revision)
|
|
{
|
|
switch (board_revision) {
|
|
default:
|
|
return &pios_usb_main_rnano_cfg;
|
|
|
|
break;
|
|
}
|
|
return NULL;
|
|
}
|
|
|
|
#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))
|
|
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void DMA2_Stream1_IRQHandler(void) __attribute__((alias("PIOS_WS2811_irq_handler")));
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// list of pin configurable as ws281x outputs.
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// this will not clash with PWM in or servo output as
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// pins will be reconfigured as _OUT so the alternate function is disabled.
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const struct pios_ws2811_pin_cfg pios_ws2811_pin_cfg[] = {
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[HWSETTINGS_WS2811LED_OUT_SERVOOUT1] = {
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.gpio = GPIOA,
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.gpioInit = {
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.GPIO_Pin = GPIO_Pin_10,
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.GPIO_Speed = GPIO_Speed_25MHz,
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.GPIO_Mode = GPIO_Mode_OUT,
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.GPIO_OType = GPIO_OType_PP,
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},
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},
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};
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const struct pios_ws2811_cfg pios_ws2811_cfg = {
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.timer = TIM1,
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.timerInit = {
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.TIM_Prescaler = PIOS_WS2811_TIM_DIVIDER - 1,
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.TIM_ClockDivision = TIM_CKD_DIV1,
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.TIM_CounterMode = TIM_CounterMode_Up,
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// period (1.25 uS per period
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.TIM_Period = PIOS_WS2811_TIM_PERIOD,
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.TIM_RepetitionCounter = 0x0000,
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},
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.timerCh1 = 1,
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.streamCh1 = DMA2_Stream1,
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.timerCh2 = 3,
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.streamCh2 = DMA2_Stream6,
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.streamUpdate = DMA2_Stream5,
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// DMA streamCh1, triggered by timerCh1 pwm signal.
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// if FrameBuffer indicates, reset output value early to indicate "0" bit to ws2812
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.dmaInitCh1 = PIOS_WS2811_DMA_CH1_CONFIG(DMA_Channel_6),
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.dmaItCh1 = DMA_IT_TEIF1 | DMA_IT_TCIF1,
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// DMA streamCh2, triggered by timerCh2 pwm signal.
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// Reset output value late to indicate "1" bit to ws2812.
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.dmaInitCh2 = PIOS_WS2811_DMA_CH2_CONFIG(DMA_Channel_6),
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.dmaItCh2 = DMA_IT_TEIF6 | DMA_IT_TCIF6,
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// DMA streamUpdate Triggered by timer update event
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// Outputs a high logic level at beginning of a cycle
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.dmaInitUpdate = PIOS_WS2811_DMA_UPDATE_CONFIG(DMA_Channel_6),
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.dmaItUpdate = DMA_IT_TEIF5 | DMA_IT_TCIF5,
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.dmaSource = TIM_DMA_CC1 | TIM_DMA_CC3 | TIM_DMA_Update,
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// DMAInitCh1 interrupt vector, used to block timer at end of framebuffer transfer
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.irq = {
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.flags = (DMA_IT_TCIF1),
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.init = {
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.NVIC_IRQChannel = DMA2_Stream1_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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void PIOS_WS2811_irq_handler(void)
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{
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PIOS_WS2811_DMA_irq_handler();
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}
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#endif // PIOS_INCLUDE_WS2811
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#ifdef PIOS_INCLUDE_FLASH_OBJLIST
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#include <pios_flashfs_objlist.h>
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struct flashfs_cfg flash_main_fs_cfg = {
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.table_magic = 0x01020304,
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.obj_magic = 0x19293949,
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.obj_table_start = 0x00000010,
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.obj_table_end = 0x1000,
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.sector_size = 0x100,
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.chip_size = 0x10000
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};
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#endif /* PIOS_INCLUDE_FLASH_OBJLIST */
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#ifdef PIOS_INCLUDE_FLASH_EEPROM
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#include <pios_flash_eeprom.h>
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struct pios_flash_eeprom_cfg flash_main_chip_cfg = {
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.page_len = 128,
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.total_size = 0x10000,
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};
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// .i2c_address = 0x50,
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#endif /* PIOS_INCLUDE_FLASH_EEPROM */
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