mirror of
https://bitbucket.org/librepilot/librepilot.git
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5f8760a55c
This allows the spektrum and sbus receiver drivers to bind directly to the usart layer using a properly exported API rather than overriding the interrupt handler. Bytes are now pushed directly from the usart layer into the com layer without any buffering. The com layer performs all of the buffering. A further benefit from this approach is that we can put all blocking/non-blocking behaviour into the COM layer and not in the underlying drivers. Misc related changes: - Remove obsolete .handler field from irq configs - Adapt all users of PIOS_COM_* functions to new API - Fixup callers of PIOS_USB_HID_Init()
422 lines
11 KiB
C
422 lines
11 KiB
C
/**
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******************************************************************************
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*
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* @file pios_board.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief Defines board specific static initializers for hardware for the AHRS board.
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#include <pios.h>
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#if defined(PIOS_INCLUDE_SPI)
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#include <pios_spi_priv.h>
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/* OP Interface
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*
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* NOTE: Leave this declared as const data so that it ends up in the
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* .rodata section (ie. Flash) rather than in the .bss section (RAM).
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*/
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void PIOS_SPI_op_irq_handler(void);
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void DMA1_Channel5_IRQHandler() __attribute__ ((alias("PIOS_SPI_op_irq_handler")));
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void DMA1_Channel4_IRQHandler() __attribute__ ((alias("PIOS_SPI_op_irq_handler")));
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static const struct pios_spi_cfg pios_spi_op_cfg = {
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.regs = SPI2,
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.init = {
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.SPI_Mode = SPI_Mode_Slave,
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.SPI_Direction = SPI_Direction_2Lines_FullDuplex,
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.SPI_DataSize = SPI_DataSize_8b,
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.SPI_NSS = SPI_NSS_Hard,
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.SPI_FirstBit = SPI_FirstBit_MSB,
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.SPI_CRCPolynomial = 7,
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.SPI_CPOL = SPI_CPOL_High,
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.SPI_CPHA = SPI_CPHA_2Edge,
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},
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.use_crc = TRUE,
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.dma = {
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.ahb_clk = RCC_AHBPeriph_DMA1,
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.irq = {
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.flags =
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(DMA1_FLAG_TC4 | DMA1_FLAG_TE4 | DMA1_FLAG_HT4 |
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DMA1_FLAG_GL4),
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.init = {
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.NVIC_IRQChannel = DMA1_Channel4_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_Channel4,
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.init = {
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.DMA_PeripheralBaseAddr =
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(uint32_t) & (SPI2->DR),
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.DMA_DIR = DMA_DIR_PeripheralSRC,
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.DMA_PeripheralInc =
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DMA_PeripheralInc_Disable,
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.DMA_MemoryInc = DMA_MemoryInc_Enable,
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.DMA_PeripheralDataSize =
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DMA_PeripheralDataSize_Byte,
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.DMA_MemoryDataSize =
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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_M2M = DMA_M2M_Disable,
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},
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},
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.tx = {
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.channel = DMA1_Channel5,
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.init = {
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.DMA_PeripheralBaseAddr =
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(uint32_t) & (SPI2->DR),
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.DMA_DIR = DMA_DIR_PeripheralDST,
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.DMA_PeripheralInc =
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DMA_PeripheralInc_Disable,
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.DMA_MemoryInc = DMA_MemoryInc_Enable,
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.DMA_PeripheralDataSize =
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DMA_PeripheralDataSize_Byte,
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.DMA_MemoryDataSize =
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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_M2M = DMA_M2M_Disable,
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},
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},
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},
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.ssel = {
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.gpio = GPIOB,
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.init = {
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.GPIO_Pin = GPIO_Pin_12,
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.GPIO_Speed = GPIO_Speed_10MHz,
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.GPIO_Mode = GPIO_Mode_IN_FLOATING,
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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_10MHz,
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.GPIO_Mode = GPIO_Mode_IN_FLOATING,
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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_10MHz,
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.GPIO_Mode = GPIO_Mode_AF_PP,
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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_10MHz,
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.GPIO_Mode = GPIO_Mode_IN_FLOATING,
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},
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},
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};
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uint32_t pios_spi_op_id;
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void PIOS_SPI_op_irq_handler(void)
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{
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/* Call into the generic code to handle the IRQ for this specific device */
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PIOS_SPI_IRQ_Handler(pios_spi_op_id);
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}
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#endif /* PIOS_INCLUDE_SPI */
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/*
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* ADC system
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*/
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#include "pios_adc_priv.h"
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extern void PIOS_ADC_handler(void);
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void DMA1_Channel1_IRQHandler() __attribute__ ((alias("PIOS_ADC_handler")));
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// Remap the ADC DMA handler to this one
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static const struct pios_adc_cfg pios_adc_cfg = {
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.dma = {
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.ahb_clk = RCC_AHBPeriph_DMA1,
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.irq = {
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.flags = (DMA1_FLAG_TC1 | DMA1_FLAG_TE1 | DMA1_FLAG_HT1 | DMA1_FLAG_GL1),
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.init = {
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.NVIC_IRQChannel = DMA1_Channel1_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_Channel1,
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.init = {
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.DMA_PeripheralBaseAddr = (uint32_t) & ADC1->DR,
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.DMA_DIR = DMA_DIR_PeripheralSRC,
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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_Word,
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.DMA_MemoryDataSize = DMA_MemoryDataSize_Word,
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.DMA_Mode = DMA_Mode_Circular,
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.DMA_Priority = DMA_Priority_High,
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.DMA_M2M = DMA_M2M_Disable,
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},
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}
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},
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.half_flag = DMA1_IT_HT1,
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.full_flag = DMA1_IT_TC1,
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};
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struct pios_adc_dev pios_adc_devs[] = {
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{
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.cfg = &pios_adc_cfg,
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.callback_function = NULL,
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},
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};
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uint8_t pios_adc_num_devices = NELEMENTS(pios_adc_devs);
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void PIOS_ADC_handler() {
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PIOS_ADC_DMA_Handler();
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}
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#if defined(PIOS_INCLUDE_USART)
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#include <pios_usart_priv.h>
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/*
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* AUX USART
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*/
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static const struct pios_usart_cfg pios_usart_aux_cfg = {
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.regs = USART3,
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.init = {
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.USART_BaudRate = 230400,
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.USART_WordLength = USART_WordLength_8b,
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.USART_Parity = USART_Parity_No,
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.USART_StopBits = USART_StopBits_1,
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.USART_HardwareFlowControl =
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USART_HardwareFlowControl_None,
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.USART_Mode = USART_Mode_Rx | USART_Mode_Tx,
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},
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.irq = {
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.init = {
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.NVIC_IRQChannel = USART3_IRQn,
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.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
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.NVIC_IRQChannelSubPriority = 0,
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.NVIC_IRQChannelCmd = ENABLE,
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},
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},
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.rx = {
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.gpio = GPIOB,
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.init = {
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.GPIO_Pin = GPIO_Pin_11,
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.GPIO_Speed = GPIO_Speed_2MHz,
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.GPIO_Mode = GPIO_Mode_IPU,
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},
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},
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.tx = {
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.gpio = GPIOB,
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.init = {
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.GPIO_Pin = GPIO_Pin_10,
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.GPIO_Speed = GPIO_Speed_2MHz,
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.GPIO_Mode = GPIO_Mode_AF_PP,
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},
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},
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};
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#endif /* PIOS_INCLUDE_USART */
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#if defined(PIOS_INCLUDE_COM)
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#include <pios_com_priv.h>
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#endif /* PIOS_INCLUDE_COM */
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#if defined(PIOS_INCLUDE_I2C)
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#include <pios_i2c_priv.h>
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/*
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* I2C Adapters
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*/
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void PIOS_I2C_main_adapter_ev_irq_handler(void);
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void PIOS_I2C_main_adapter_er_irq_handler(void);
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void I2C1_EV_IRQHandler()
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__attribute__ ((alias("PIOS_I2C_main_adapter_ev_irq_handler")));
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void I2C1_ER_IRQHandler()
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__attribute__ ((alias("PIOS_I2C_main_adapter_er_irq_handler")));
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static const struct pios_i2c_adapter_cfg pios_i2c_main_adapter_cfg = {
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.regs = I2C1,
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.init = {
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.I2C_Mode = I2C_Mode_I2C,
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.I2C_OwnAddress1 = 0,
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.I2C_Ack = I2C_Ack_Enable,
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.I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit,
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.I2C_DutyCycle = I2C_DutyCycle_2,
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.I2C_ClockSpeed = 200000, /* bits/s */
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},
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.transfer_timeout_ms = 50,
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.scl = {
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.gpio = GPIOB,
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.init = {
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.GPIO_Pin = GPIO_Pin_6,
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.GPIO_Speed = GPIO_Speed_10MHz,
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.GPIO_Mode = GPIO_Mode_AF_OD,
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},
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},
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.sda = {
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.gpio = GPIOB,
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.init = {
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.GPIO_Pin = GPIO_Pin_7,
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.GPIO_Speed = GPIO_Speed_10MHz,
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.GPIO_Mode = GPIO_Mode_AF_OD,
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},
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},
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.event = {
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.flags = 0, /* FIXME: check this */
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.init = {
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.NVIC_IRQChannel = I2C1_EV_IRQn,
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.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST,
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.NVIC_IRQChannelSubPriority = 0,
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.NVIC_IRQChannelCmd = ENABLE,
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},
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},
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.error = {
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.flags = 0, /* FIXME: check this */
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.init = {
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.NVIC_IRQChannel = I2C1_ER_IRQn,
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.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST,
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.NVIC_IRQChannelSubPriority = 0,
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.NVIC_IRQChannelCmd = ENABLE,
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},
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},
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};
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uint32_t pios_i2c_main_adapter_id;
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void PIOS_I2C_main_adapter_ev_irq_handler(void)
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{
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/* Call into the generic code to handle the IRQ for this specific device */
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PIOS_I2C_EV_IRQ_Handler(pios_i2c_main_adapter_id);
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}
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void PIOS_I2C_main_adapter_er_irq_handler(void)
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{
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/* Call into the generic code to handle the IRQ for this specific device */
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PIOS_I2C_ER_IRQ_Handler(pios_i2c_main_adapter_id);
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}
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#endif /* PIOS_INCLUDE_I2C */
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#if defined(PIOS_ENABLE_DEBUG_PINS)
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static const struct stm32_gpio pios_debug_pins[] = {
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{
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.gpio = GPIOB,
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.init = {
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.GPIO_Pin = GPIO_Pin_11,
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.GPIO_Speed = GPIO_Speed_50MHz,
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.GPIO_Mode = GPIO_Mode_IN_FLOATING,
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},
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},
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{
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.gpio = GPIOB,
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.init = {
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.GPIO_Pin = GPIO_Pin_10,
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.GPIO_Speed = GPIO_Speed_50MHz,
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.GPIO_Mode = GPIO_Mode_Out_PP,
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},
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},
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};
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#endif /* PIOS_ENABLE_DEBUG_PINS */
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extern const struct pios_com_driver pios_usart_com_driver;
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uint32_t pios_com_aux_id;
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uint8_t adc_fifo_buf[sizeof(float) * 6 * 4] __attribute__ ((aligned(4))); // align to 32-bit to try and provide speed improvement
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/**
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* PIOS_Board_Init()
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* initializes all the core subsystems on this specific hardware
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* called from System/openpilot.c
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*/
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void PIOS_Board_Init(void) {
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/* Brings up System using CMSIS functions, enables the LEDs. */
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PIOS_SYS_Init();
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PIOS_LED_On(LED1);
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/* Delay system */
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PIOS_DELAY_Init();
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/* Communication system */
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#if !defined(PIOS_ENABLE_DEBUG_PINS)
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#if defined(PIOS_INCLUDE_COM)
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uint32_t pios_usart_aux_id;
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if (PIOS_USART_Init(&pios_usart_aux_id, &pios_usart_aux_cfg)) {
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PIOS_DEBUG_Assert(0);
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}
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if (PIOS_COM_Init(&pios_com_aux_id, &pios_usart_com_driver, pios_usart_aux_id)) {
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PIOS_DEBUG_Assert(0);
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}
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#endif /* PIOS_INCLUDE_COM */
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#endif
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/* IAP System Setup */
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PIOS_IAP_Init();
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/* ADC system */
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PIOS_ADC_Init();
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extern uint8_t adc_oversampling;
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PIOS_ADC_Config(adc_oversampling);
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extern void adc_callback(float *);
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PIOS_ADC_SetCallback(adc_callback);
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/* ADC buffer */
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extern t_fifo_buffer adc_fifo_buffer;
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fifoBuf_init(&adc_fifo_buffer, adc_fifo_buf, sizeof(adc_fifo_buf));
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/* Setup the Accelerometer FS (Full-Scale) GPIO */
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PIOS_GPIO_Enable(0);
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SET_ACCEL_6G;
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#if defined(PIOS_INCLUDE_HMC5843) && defined(PIOS_INCLUDE_I2C)
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/* Magnetic sensor system */
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if (PIOS_I2C_Init(&pios_i2c_main_adapter_id, &pios_i2c_main_adapter_cfg)) {
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PIOS_DEBUG_Assert(0);
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}
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PIOS_HMC5843_Init();
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#endif
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#if defined(PIOS_INCLUDE_SPI)
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#include "ahrs_spi_comm.h"
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AhrsInitComms();
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/* Set up the SPI interface to the OP board */
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if (PIOS_SPI_Init(&pios_spi_op_id, &pios_spi_op_cfg)) {
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PIOS_DEBUG_Assert(0);
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}
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AhrsConnect(pios_spi_op_id);
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#endif
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}
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