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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()
271 lines
7.4 KiB
C
271 lines
7.4 KiB
C
/**
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******************************************************************************
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* @addtogroup OpenPilotBL OpenPilot BootLoader
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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 initialisers for hardware for the OpenPilot board.
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#include <pios.h>
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//#include <openpilot.h>
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//#include <uavobjectsinit.h>
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#if defined(PIOS_INCLUDE_SPI)
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#include <pios_spi_priv.h>
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/* AHRS 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_ahrs_irq_handler(void);
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void DMA1_Channel4_IRQHandler() __attribute__ ((alias ("PIOS_SPI_ahrs_irq_handler")));
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void DMA1_Channel5_IRQHandler() __attribute__ ((alias ("PIOS_SPI_ahrs_irq_handler")));
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const struct pios_spi_cfg
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pios_spi_ahrs_cfg = {
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.regs = 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_8,
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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 = (DMA1_FLAG_TC4 | DMA1_FLAG_TE4 | DMA1_FLAG_HT4 | 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 = (uint32_t)&(SPI2->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_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_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 = (uint32_t)&(SPI2->DR),
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.DMA_DIR = DMA_DIR_PeripheralDST,
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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_M2M = DMA_M2M_Disable,
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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_50MHz,
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.GPIO_Mode = GPIO_Mode_Out_PP,
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},
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}, .sclk = {
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.gpio = GPIOB,
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.init = {
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.GPIO_Pin = GPIO_Pin_13,
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.GPIO_Speed = GPIO_Speed_50MHz,
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.GPIO_Mode = GPIO_Mode_AF_PP,
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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_IN_FLOATING,
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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_PP,
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},
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}, };
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uint32_t pios_spi_ahrs_id;
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void PIOS_SPI_ahrs_irq_handler(void) {
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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_ahrs_id);
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}
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#endif /* PIOS_INCLUDE_SPI */
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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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* Telemetry USART
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*/
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const struct pios_usart_cfg pios_usart_telem_cfg = {
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.regs = USART2,
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.init = {
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#if defined (PIOS_COM_TELEM_BAUDRATE)
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.USART_BaudRate = PIOS_COM_TELEM_BAUDRATE,
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#else
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.USART_BaudRate = 57600,
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#endif
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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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}, .irq = {
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.init = {
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.NVIC_IRQChannel = USART2_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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}, .rx = {
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.gpio = GPIOA,
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.init = {
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.GPIO_Pin = GPIO_Pin_3,
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.GPIO_Speed = GPIO_Speed_2MHz,
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.GPIO_Mode = GPIO_Mode_IPU,
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},
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}, .tx = {
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.gpio = GPIOA,
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.init = {
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.GPIO_Pin = GPIO_Pin_2,
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.GPIO_Speed = GPIO_Speed_2MHz,
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.GPIO_Mode = GPIO_Mode_AF_PP,
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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_USB_HID)
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#include "pios_usb_hid_priv.h"
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static const struct pios_usb_hid_cfg pios_usb_hid_main_cfg = {
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.irq = {
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.init = {
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.NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn,
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.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW,
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.NVIC_IRQChannelSubPriority = 0,
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.NVIC_IRQChannelCmd = ENABLE,
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},
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},
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};
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#endif /* PIOS_INCLUDE_USB_HID */
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extern const struct pios_com_driver pios_usb_com_driver;
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uint32_t pios_com_telem_rf_id;
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uint32_t pios_com_telem_usb_id;
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#include "pios_opahrs.h"
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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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static bool board_init_complete = false;
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void PIOS_Board_Init(void) {
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if (board_init_complete) {
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return;
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}
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/* Enable Prefetch Buffer */
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FLASH_PrefetchBufferCmd(FLASH_PrefetchBuffer_Enable);
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/* Flash 2 wait state */
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FLASH_SetLatency(FLASH_Latency_2);
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/* Delay system */
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PIOS_DELAY_Init();
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/* Initialize the PiOS library */
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#if defined(PIOS_INCLUDE_COM)
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uint32_t pios_usart_telem_rf_id;
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if (PIOS_USART_Init(&pios_usart_telem_rf_id, &pios_usart_telem_cfg)) {
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PIOS_DEBUG_Assert(0);
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}
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if (PIOS_COM_Init(&pios_com_telem_rf_id, &pios_usart_com_driver,
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pios_usart_telem_rf_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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PIOS_GPIO_Init();
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#if defined(PIOS_INCLUDE_USB_HID)
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uint32_t pios_usb_hid_id;
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PIOS_USB_HID_Init(&pios_usb_hid_id, &pios_usb_hid_main_cfg);
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#if defined(PIOS_INCLUDE_COM)
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if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_com_driver, pios_usb_hid_id)) {
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PIOS_Assert(0);
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}
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#endif /* PIOS_INCLUDE_COM */
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#endif /* PIOS_INCLUDE_USB_HID */
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RCC_AHBPeriphClockCmd(RCC_AHBPeriph_CRC, ENABLE);//TODO Tirar
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/* Set up the SPI interface to the AHRS */
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if (PIOS_SPI_Init(&pios_spi_ahrs_id, &pios_spi_ahrs_cfg)) {
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PIOS_DEBUG_Assert(0);
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}
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/* Bind the AHRS comms layer to the AHRS SPI link */
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PIOS_OPAHRS_Attach(pios_spi_ahrs_id);
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board_init_complete = true;
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}
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/**
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* @}
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*/
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