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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()
366 lines
9.4 KiB
C
366 lines
9.4 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 PipBee 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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// ***********************************************************************************
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// SPI
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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_port_irq_handler(void);
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void DMA1_Channel5_IRQHandler() __attribute__ ((alias ("PIOS_SPI_port_irq_handler")));
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void DMA1_Channel4_IRQHandler() __attribute__ ((alias ("PIOS_SPI_port_irq_handler")));
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static const struct pios_spi_cfg pios_spi_port_cfg =
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{
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.regs = SPI1,
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// .regs = SPI2,
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// .regs = SPI3,
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.init =
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{
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.SPI_Mode = SPI_Mode_Master,
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// .SPI_Mode = SPI_Mode_Slave,
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.SPI_Direction = SPI_Direction_2Lines_FullDuplex,
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// .SPI_Direction = SPI_Direction_2Lines_RxOnly,
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// .SPI_Direction = SPI_Direction_1Line_Rx,
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// .SPI_Direction = SPI_Direction_1Line_Tx,
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// .SPI_DataSize = SPI_DataSize_16b,
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.SPI_DataSize = SPI_DataSize_8b,
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.SPI_NSS = SPI_NSS_Soft,
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// .SPI_NSS = SPI_NSS_Hard,
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.SPI_FirstBit = SPI_FirstBit_MSB,
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// .SPI_FirstBit = SPI_FirstBit_LSB,
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.SPI_CRCPolynomial = 0,
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.SPI_CPOL = SPI_CPOL_Low,
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// .SPI_CPOL = SPI_CPOL_High,
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.SPI_CPHA = SPI_CPHA_1Edge,
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// .SPI_CPHA = SPI_CPHA_2Edge,
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// .SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_2, // fastest SCLK
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// .SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_4,
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// .SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_8,
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// .SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_16,
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// .SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_32,
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// .SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_64,
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// .SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_128,
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.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_256, // slowest SCLK
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},
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.use_crc = FALSE,
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.dma =
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{
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.ahb_clk = RCC_AHBPeriph_DMA1,
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.irq =
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{
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.flags = (DMA1_FLAG_TC2 | DMA1_FLAG_TE2 | DMA1_FLAG_HT2 | DMA1_FLAG_GL2),
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.init = {
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.NVIC_IRQChannel = DMA1_Channel2_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_Channel2,
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.init = {
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.DMA_PeripheralBaseAddr = (uint32_t)&(SPI1->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_Channel3,
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.init = {
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.DMA_PeripheralBaseAddr = (uint32_t)&(SPI1->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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},
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.ssel =
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{
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.gpio = GPIOA,
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.init =
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{
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.GPIO_Pin = GPIO_Pin_4,
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.GPIO_Speed = GPIO_Speed_10MHz,
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.GPIO_Mode = GPIO_Mode_Out_PP,
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},
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},
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.sclk =
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{
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.gpio = GPIOA,
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.init =
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{
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.GPIO_Pin = GPIO_Pin_5,
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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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.miso =
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{
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.gpio = GPIOA,
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.init =
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{
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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_IN_FLOATING,
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// .GPIO_Mode = GPIO_Mode_IPU,
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},
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},
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.mosi =
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{
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.gpio = GPIOA,
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.init =
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{
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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_PP,
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},
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},
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};
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uint32_t pios_spi_port_id;
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void PIOS_SPI_port_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_port_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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// ***********************************************************************************
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// USART
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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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* SERIAL USART
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*/
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static const struct pios_usart_cfg pios_usart_serial_cfg =
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{
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.regs = USART1,
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.init =
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{
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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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{
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.init =
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{
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.NVIC_IRQChannel = USART1_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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{
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.gpio = GPIOA,
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.init =
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{
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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_IPU,
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},
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},
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.tx =
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{
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.gpio = GPIOA,
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.init =
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{
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.GPIO_Pin = GPIO_Pin_9,
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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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// ***********************************************************************************
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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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// ***********************************************************************************
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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_serial_id;
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uint32_t pios_com_telem_usb_id;
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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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// Bring up System using CMSIS functions, enables the LEDs.
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PIOS_SYS_Init();
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// turn all the leds on
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USB_LED_ON;
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LINK_LED_ON;
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RX_LED_ON;
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TX_LED_ON;
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// Delay system
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PIOS_DELAY_Init();
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uint32_t pios_usart_serial_id;
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if (PIOS_USART_Init(&pios_usart_serial_id, &pios_usart_serial_cfg)) {
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PIOS_DEBUG_Assert(0);
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}
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if (PIOS_COM_Init(&pios_com_serial_id, &pios_usart_com_driver, pios_usart_serial_id)) {
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PIOS_DEBUG_Assert(0);
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}
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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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// ADC system
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// PIOS_ADC_Init();
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// SPI link to master
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if (PIOS_SPI_Init(&pios_spi_port_id, &pios_spi_port_cfg)) {
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PIOS_DEBUG_Assert(0);
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}
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}
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