mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-11-29 07:24:13 +01:00
b94f4b49a4
Summary of changes:
* USB CDC and HID drivers are completely split apart.
* This will allow different max buffer sizes for HID and CDC.
* USB descriptors have been overhauled:
* Proper structs/macros/enums declared for USB (see pios_usb_defs.h)
* Two common descriptor definitions. One for HID+CDC another for HID only.
See pios_usb_desc_{hid_cdc,hid_only}.c for details.
* Long standing bugs in OP USB descriptors became much more obvious with the
new struct definitions.
* Board specific USB initialization is now in pios_usb_board_data.h in each build target.
* Definition of USB descriptors is now entirely indpendent of STM32 libs.
Glue into STM32 libs is provided by pios_usbhook.c.
* Removed a lot of stale/irrelevant USB #defines throughout the tree.
* Improved naming consistency throughout USB code:
* PIOS_USB_HID_* now refers to the HID endpoint code.
* PIOS_USB_CDC_* now refers to the CDC endpoint code.
* PIOS_USB_* now refers to the low-level USB code.
* PIOS_USB_BOARD_* now refers to board-specific USB data
* PIOS_USBHOOK_* is glue between PIOS and STM32 USB libs.
* struct usb_* and enum usb_* and USB_* and HID_* are all types from the USB spec.
* Shrunk the buffer size on the CDC call mgmt endpoint to save some RAM.
* Made a few more USB related variables static to save some RAM.
398 lines
10 KiB
C
398 lines
10 KiB
C
/**
|
|
******************************************************************************
|
|
*
|
|
* @file pios_board.c
|
|
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
|
* @brief Defines board specific static initializers for hardware for the PipBee board.
|
|
* @see The GNU Public License (GPL) Version 3
|
|
*
|
|
*****************************************************************************/
|
|
/*
|
|
* This program is free software; you can redistribute it and/or modify
|
|
* it under the terms of the GNU General Public License as published by
|
|
* the Free Software Foundation; either version 3 of the License, or
|
|
* (at your option) any later version.
|
|
*
|
|
* This program is distributed in the hope that it will be useful, but
|
|
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
|
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
|
* for more details.
|
|
*
|
|
* You should have received a copy of the GNU General Public License along
|
|
* with this program; if not, write to the Free Software Foundation, Inc.,
|
|
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
|
*/
|
|
|
|
#include <pios.h>
|
|
|
|
// ***********************************************************************************
|
|
// SPI
|
|
|
|
#if defined(PIOS_INCLUDE_SPI)
|
|
|
|
#include <pios_spi_priv.h>
|
|
|
|
/* OP Interface
|
|
*
|
|
* NOTE: Leave this declared as const data so that it ends up in the
|
|
* .rodata section (ie. Flash) rather than in the .bss section (RAM).
|
|
*/
|
|
void PIOS_SPI_port_irq_handler(void);
|
|
void DMA1_Channel5_IRQHandler() __attribute__ ((alias ("PIOS_SPI_port_irq_handler")));
|
|
void DMA1_Channel4_IRQHandler() __attribute__ ((alias ("PIOS_SPI_port_irq_handler")));
|
|
|
|
static const struct pios_spi_cfg pios_spi_port_cfg =
|
|
{
|
|
.regs = SPI1,
|
|
// .regs = SPI2,
|
|
// .regs = SPI3,
|
|
|
|
.init =
|
|
{
|
|
.SPI_Mode = SPI_Mode_Master,
|
|
// .SPI_Mode = SPI_Mode_Slave,
|
|
|
|
.SPI_Direction = SPI_Direction_2Lines_FullDuplex,
|
|
// .SPI_Direction = SPI_Direction_2Lines_RxOnly,
|
|
// .SPI_Direction = SPI_Direction_1Line_Rx,
|
|
// .SPI_Direction = SPI_Direction_1Line_Tx,
|
|
|
|
// .SPI_DataSize = SPI_DataSize_16b,
|
|
.SPI_DataSize = SPI_DataSize_8b,
|
|
|
|
.SPI_NSS = SPI_NSS_Soft,
|
|
// .SPI_NSS = SPI_NSS_Hard,
|
|
|
|
.SPI_FirstBit = SPI_FirstBit_MSB,
|
|
// .SPI_FirstBit = SPI_FirstBit_LSB,
|
|
|
|
.SPI_CRCPolynomial = 0,
|
|
|
|
.SPI_CPOL = SPI_CPOL_Low,
|
|
// .SPI_CPOL = SPI_CPOL_High,
|
|
|
|
.SPI_CPHA = SPI_CPHA_1Edge,
|
|
// .SPI_CPHA = SPI_CPHA_2Edge,
|
|
|
|
// .SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_2, // fastest SCLK
|
|
// .SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_4,
|
|
// .SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_8,
|
|
// .SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_16,
|
|
// .SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_32,
|
|
// .SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_64,
|
|
// .SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_128,
|
|
.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_256, // slowest SCLK
|
|
},
|
|
.use_crc = FALSE,
|
|
|
|
.dma =
|
|
{
|
|
.ahb_clk = RCC_AHBPeriph_DMA1,
|
|
.irq =
|
|
{
|
|
.flags = (DMA1_FLAG_TC2 | DMA1_FLAG_TE2 | DMA1_FLAG_HT2 | DMA1_FLAG_GL2),
|
|
.init = {
|
|
.NVIC_IRQChannel = DMA1_Channel2_IRQn,
|
|
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
|
|
.NVIC_IRQChannelSubPriority = 0,
|
|
.NVIC_IRQChannelCmd = ENABLE,
|
|
},
|
|
},
|
|
|
|
.rx = {
|
|
.channel = DMA1_Channel2,
|
|
.init = {
|
|
.DMA_PeripheralBaseAddr = (uint32_t)&(SPI1->DR),
|
|
.DMA_DIR = DMA_DIR_PeripheralSRC,
|
|
.DMA_PeripheralInc = DMA_PeripheralInc_Disable,
|
|
.DMA_MemoryInc = DMA_MemoryInc_Enable,
|
|
.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
|
|
.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte,
|
|
.DMA_Mode = DMA_Mode_Normal,
|
|
.DMA_Priority = DMA_Priority_Medium,
|
|
.DMA_M2M = DMA_M2M_Disable,
|
|
},
|
|
},
|
|
.tx = {
|
|
.channel = DMA1_Channel3,
|
|
.init = {
|
|
.DMA_PeripheralBaseAddr = (uint32_t)&(SPI1->DR),
|
|
.DMA_DIR = DMA_DIR_PeripheralDST,
|
|
.DMA_PeripheralInc = DMA_PeripheralInc_Disable,
|
|
.DMA_MemoryInc = DMA_MemoryInc_Enable,
|
|
.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
|
|
.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte,
|
|
.DMA_Mode = DMA_Mode_Normal,
|
|
.DMA_Priority = DMA_Priority_Medium,
|
|
.DMA_M2M = DMA_M2M_Disable,
|
|
},
|
|
},
|
|
},
|
|
|
|
.ssel =
|
|
{
|
|
.gpio = GPIOA,
|
|
.init =
|
|
{
|
|
.GPIO_Pin = GPIO_Pin_4,
|
|
.GPIO_Speed = GPIO_Speed_10MHz,
|
|
.GPIO_Mode = GPIO_Mode_Out_PP,
|
|
},
|
|
},
|
|
.sclk =
|
|
{
|
|
.gpio = GPIOA,
|
|
.init =
|
|
{
|
|
.GPIO_Pin = GPIO_Pin_5,
|
|
.GPIO_Speed = GPIO_Speed_10MHz,
|
|
.GPIO_Mode = GPIO_Mode_AF_PP,
|
|
},
|
|
},
|
|
.miso =
|
|
{
|
|
.gpio = GPIOA,
|
|
.init =
|
|
{
|
|
.GPIO_Pin = GPIO_Pin_6,
|
|
.GPIO_Speed = GPIO_Speed_10MHz,
|
|
.GPIO_Mode = GPIO_Mode_IN_FLOATING,
|
|
// .GPIO_Mode = GPIO_Mode_IPU,
|
|
},
|
|
},
|
|
.mosi =
|
|
{
|
|
.gpio = GPIOA,
|
|
.init =
|
|
{
|
|
.GPIO_Pin = GPIO_Pin_7,
|
|
.GPIO_Speed = GPIO_Speed_10MHz,
|
|
.GPIO_Mode = GPIO_Mode_AF_PP,
|
|
},
|
|
},
|
|
};
|
|
|
|
uint32_t pios_spi_port_id;
|
|
void PIOS_SPI_port_irq_handler(void)
|
|
{
|
|
/* Call into the generic code to handle the IRQ for this specific device */
|
|
PIOS_SPI_IRQ_Handler(pios_spi_port_id);
|
|
}
|
|
|
|
#endif /* PIOS_INCLUDE_SPI */
|
|
|
|
/*
|
|
* ADC system
|
|
*/
|
|
#include "pios_adc_priv.h"
|
|
extern void PIOS_ADC_handler(void);
|
|
void DMA1_Channel1_IRQHandler() __attribute__ ((alias("PIOS_ADC_handler")));
|
|
// Remap the ADC DMA handler to this one
|
|
static const struct pios_adc_cfg pios_adc_cfg = {
|
|
.dma = {
|
|
.ahb_clk = RCC_AHBPeriph_DMA1,
|
|
.irq = {
|
|
.flags = (DMA1_FLAG_TC1 | DMA1_FLAG_TE1 | DMA1_FLAG_HT1 | DMA1_FLAG_GL1),
|
|
.init = {
|
|
.NVIC_IRQChannel = DMA1_Channel1_IRQn,
|
|
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
|
|
.NVIC_IRQChannelSubPriority = 0,
|
|
.NVIC_IRQChannelCmd = ENABLE,
|
|
},
|
|
},
|
|
.rx = {
|
|
.channel = DMA1_Channel1,
|
|
.init = {
|
|
.DMA_PeripheralBaseAddr = (uint32_t) & ADC1->DR,
|
|
.DMA_DIR = DMA_DIR_PeripheralSRC,
|
|
.DMA_PeripheralInc = DMA_PeripheralInc_Disable,
|
|
.DMA_MemoryInc = DMA_MemoryInc_Enable,
|
|
.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Word,
|
|
.DMA_MemoryDataSize = DMA_MemoryDataSize_Word,
|
|
.DMA_Mode = DMA_Mode_Circular,
|
|
.DMA_Priority = DMA_Priority_High,
|
|
.DMA_M2M = DMA_M2M_Disable,
|
|
},
|
|
}
|
|
},
|
|
.half_flag = DMA1_IT_HT1,
|
|
.full_flag = DMA1_IT_TC1,
|
|
};
|
|
|
|
struct pios_adc_dev pios_adc_devs[] = {
|
|
{
|
|
.cfg = &pios_adc_cfg,
|
|
.callback_function = NULL,
|
|
},
|
|
};
|
|
|
|
uint8_t pios_adc_num_devices = NELEMENTS(pios_adc_devs);
|
|
|
|
void PIOS_ADC_handler() {
|
|
PIOS_ADC_DMA_Handler();
|
|
}
|
|
|
|
|
|
// ***********************************************************************************
|
|
// USART
|
|
|
|
#if defined(PIOS_INCLUDE_USART)
|
|
|
|
#include <pios_usart_priv.h>
|
|
|
|
/*
|
|
* SERIAL USART
|
|
*/
|
|
static const struct pios_usart_cfg pios_usart_serial_cfg =
|
|
{
|
|
.regs = USART1,
|
|
.init =
|
|
{
|
|
.USART_BaudRate = 57600,
|
|
.USART_WordLength = USART_WordLength_8b,
|
|
.USART_Parity = USART_Parity_No,
|
|
.USART_StopBits = USART_StopBits_1,
|
|
.USART_HardwareFlowControl = USART_HardwareFlowControl_None,
|
|
.USART_Mode = USART_Mode_Rx | USART_Mode_Tx,
|
|
},
|
|
.irq =
|
|
{
|
|
.init =
|
|
{
|
|
.NVIC_IRQChannel = USART1_IRQn,
|
|
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
|
|
.NVIC_IRQChannelSubPriority = 0,
|
|
.NVIC_IRQChannelCmd = ENABLE,
|
|
},
|
|
},
|
|
.rx =
|
|
{
|
|
.gpio = GPIOA,
|
|
.init =
|
|
{
|
|
.GPIO_Pin = GPIO_Pin_10,
|
|
.GPIO_Speed = GPIO_Speed_2MHz,
|
|
.GPIO_Mode = GPIO_Mode_IPU,
|
|
},
|
|
},
|
|
.tx =
|
|
{
|
|
.gpio = GPIOA,
|
|
.init =
|
|
{
|
|
.GPIO_Pin = GPIO_Pin_9,
|
|
.GPIO_Speed = GPIO_Speed_2MHz,
|
|
.GPIO_Mode = GPIO_Mode_AF_PP,
|
|
},
|
|
},
|
|
};
|
|
|
|
#endif /* PIOS_INCLUDE_USART */
|
|
|
|
// ***********************************************************************************
|
|
|
|
#if defined(PIOS_INCLUDE_COM)
|
|
|
|
#include <pios_com_priv.h>
|
|
|
|
#define PIOS_COM_TELEM_USB_RX_BUF_LEN 192
|
|
#define PIOS_COM_TELEM_USB_TX_BUF_LEN 192
|
|
|
|
static uint8_t pios_com_telem_usb_rx_buffer[PIOS_COM_TELEM_USB_RX_BUF_LEN];
|
|
static uint8_t pios_com_telem_usb_tx_buffer[PIOS_COM_TELEM_USB_TX_BUF_LEN];
|
|
|
|
#define PIOS_COM_SERIAL_RX_BUF_LEN 192
|
|
#define PIOS_COM_SERIAL_TX_BUF_LEN 192
|
|
|
|
static uint8_t pios_com_serial_rx_buffer[PIOS_COM_SERIAL_RX_BUF_LEN];
|
|
static uint8_t pios_com_serial_tx_buffer[PIOS_COM_SERIAL_TX_BUF_LEN];
|
|
|
|
#endif /* PIOS_INCLUDE_COM */
|
|
|
|
// ***********************************************************************************
|
|
|
|
#if defined(PIOS_INCLUDE_USB)
|
|
#include "pios_usb_priv.h"
|
|
|
|
static const struct pios_usb_cfg pios_usb_main_cfg = {
|
|
.irq = {
|
|
.init = {
|
|
.NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn,
|
|
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW,
|
|
.NVIC_IRQChannelSubPriority = 0,
|
|
.NVIC_IRQChannelCmd = ENABLE,
|
|
},
|
|
},
|
|
};
|
|
#endif /* PIOS_INCLUDE_USB */
|
|
|
|
#if defined(PIOS_INCLUDE_USB_HID)
|
|
#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 */
|
|
|
|
uint32_t pios_com_serial_id;
|
|
uint32_t pios_com_telem_usb_id;
|
|
|
|
/**
|
|
* PIOS_Board_Init()
|
|
* initializes all the core subsystems on this specific hardware
|
|
* called from System/openpilot.c
|
|
*/
|
|
void PIOS_Board_Init(void) {
|
|
// Bring up System using CMSIS functions, enables the LEDs.
|
|
PIOS_SYS_Init();
|
|
|
|
// turn all the leds on
|
|
USB_LED_ON;
|
|
LINK_LED_ON;
|
|
RX_LED_ON;
|
|
TX_LED_ON;
|
|
|
|
// Delay system
|
|
PIOS_DELAY_Init();
|
|
|
|
uint32_t pios_usart_serial_id;
|
|
if (PIOS_USART_Init(&pios_usart_serial_id, &pios_usart_serial_cfg)) {
|
|
PIOS_DEBUG_Assert(0);
|
|
}
|
|
if (PIOS_COM_Init(&pios_com_serial_id, &pios_usart_com_driver, pios_usart_serial_id,
|
|
pios_com_serial_rx_buffer, sizeof(pios_com_serial_rx_buffer),
|
|
pios_com_serial_tx_buffer, sizeof(pios_com_serial_tx_buffer))) {
|
|
PIOS_DEBUG_Assert(0);
|
|
}
|
|
|
|
#if defined(PIOS_INCLUDE_USB)
|
|
uint32_t pios_usb_id;
|
|
if (PIOS_USB_Init(&pios_usb_id, &pios_usb_main_cfg)) {
|
|
PIOS_Assert(0);
|
|
}
|
|
#if defined(PIOS_INCLUDE_USB_HID) && defined(PIOS_INCLUDE_COM)
|
|
uint32_t pios_usb_hid_id;
|
|
if (PIOS_USB_HID_Init(&pios_usb_hid_id, &pios_usb_hid_cfg, pios_usb_id)) {
|
|
PIOS_Assert(0);
|
|
}
|
|
if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_hid_com_driver, pios_usb_hid_id,
|
|
pios_com_telem_usb_rx_buffer, sizeof(pios_com_telem_usb_rx_buffer),
|
|
pios_com_telem_usb_tx_buffer, sizeof(pios_com_telem_usb_tx_buffer))) {
|
|
PIOS_Assert(0);
|
|
}
|
|
#endif /* PIOS_INCLUDE_USB_HID && PIOS_INCLUDE_COM */
|
|
|
|
#endif /* PIOS_INCLUDE_USB_HID */
|
|
|
|
// ADC system
|
|
// PIOS_ADC_Init();
|
|
|
|
// SPI link to master
|
|
if (PIOS_SPI_Init(&pios_spi_port_id, &pios_spi_port_cfg)) {
|
|
PIOS_DEBUG_Assert(0);
|
|
}
|
|
}
|