mirror of
https://bitbucket.org/librepilot/librepilot.git
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1477 lines
38 KiB
C
1477 lines
38 KiB
C
/**
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******************************************************************************
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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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*
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* @file board_hw_defs.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
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* @brief Defines board specific static initializers 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_config.h>
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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_led pios_leds[] = {
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[PIOS_LED_HEARTBEAT] = {
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.pin = {
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.gpio = GPIOE,
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.init = {
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.GPIO_Pin = GPIO_Pin_2,
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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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[PIOS_LED_ALARM] = {
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.pin = {
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.gpio = GPIOE,
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.init = {
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.GPIO_Pin = GPIO_Pin_3,
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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 const struct pios_led_cfg pios_led_cfg = {
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.leds = pios_leds,
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.num_leds = NELEMENTS(pios_leds),
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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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/* SPI1 Interface
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* - Used for BMA180 accelerometer
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*/
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void PIOS_SPI_accel_irq_handler(void);
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void DMA2_Stream0_IRQHandler(void) __attribute__((alias("PIOS_SPI_accel_irq_handler")));
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void DMA2_Stream3_IRQHandler(void) __attribute__((alias("PIOS_SPI_accel_irq_handler")));
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static const struct pios_spi_cfg pios_spi_accel_cfg = {
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.regs = SPI1,
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.remap = GPIO_AF_SPI1,
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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 = DMA2_Stream0_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 = DMA2_Stream0,
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.init = {
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.DMA_Channel = DMA_Channel_3,
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.DMA_PeripheralBaseAddr = (uint32_t)&(SPI1->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 = DMA2_Stream3,
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.init = {
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.DMA_Channel = DMA_Channel_3,
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.DMA_PeripheralBaseAddr = (uint32_t)&(SPI1->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 = GPIOA,
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.init = {
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.GPIO_Pin = GPIO_Pin_5,
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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 = GPIOA,
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.init = {
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.GPIO_Pin = GPIO_Pin_6,
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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 = GPIOA,
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.init = {
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.GPIO_Pin = GPIO_Pin_7,
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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 = 2,
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.ssel = { {
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.gpio = GPIOA,
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.init = {
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.GPIO_Pin = GPIO_Pin_4,
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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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.gpio = GPIOC,
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.init = {
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.GPIO_Pin = GPIO_Pin_5,
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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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static uint32_t pios_spi_accel_id;
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void PIOS_SPI_accel_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_accel_id);
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}
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/* SPI2 Interface
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* - Used for gyro communications
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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_8,
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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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// Note this is the stream ID that triggers interrupts (in this case RX)
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.flags = (DMA_IT_TCIF3 | DMA_IT_TEIF3 | DMA_IT_HTIF3),
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.init = {
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.NVIC_IRQChannel = DMA1_Stream3_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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//TODO: Enable FIFO
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.DMA_FIFOMode = DMA_FIFOMode_Disable,
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.DMA_FIFOThreshold = DMA_FIFOThreshold_Full,
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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_Medium,
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.DMA_FIFOMode = DMA_FIFOMode_Disable,
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.DMA_FIFOThreshold = DMA_FIFOThreshold_Full,
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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_NOPULL
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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_NOPULL
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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_NOPULL
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},
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},
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.slave_count = 1,
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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,
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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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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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#if !defined(PIOS_FLASH_ON_ACCEL)
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/* SPI3 Interface
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* - Used for flash communications
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*/
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void PIOS_SPI_flash_irq_handler(void);
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void DMA1_Stream0_IRQHandler(void) __attribute__((alias("PIOS_SPI_flash_irq_handler")));
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void DMA1_Stream2_IRQHandler(void) __attribute__((alias("PIOS_SPI_flash_irq_handler")));
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static const struct pios_spi_cfg pios_spi_flash_cfg = {
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.regs = SPI3,
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.remap = GPIO_AF_SPI3,
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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_2,
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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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// Note this is the stream ID that triggers interrupts (in this case RX)
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.flags = (DMA_IT_TCIF3 | DMA_IT_TEIF3 | DMA_IT_HTIF3),
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.init = {
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.NVIC_IRQChannel = DMA1_Stream0_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_Stream0,
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.init = {
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.DMA_Channel = DMA_Channel_0,
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.DMA_PeripheralBaseAddr = (uint32_t) & (SPI3->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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//TODO: Enable FIFO
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.DMA_FIFOMode = DMA_FIFOMode_Disable,
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.DMA_FIFOThreshold = DMA_FIFOThreshold_Full,
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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_Stream2,
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.init = {
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.DMA_Channel = DMA_Channel_0,
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.DMA_PeripheralBaseAddr = (uint32_t) & (SPI3->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_Medium,
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.DMA_FIFOMode = DMA_FIFOMode_Disable,
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.DMA_FIFOThreshold = DMA_FIFOThreshold_Full,
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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 = GPIOC,
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.init = {
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.GPIO_Pin = GPIO_Pin_10,
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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_NOPULL
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},
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},
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.miso = {
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.gpio = GPIOC,
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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_AF,
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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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.mosi = {
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.gpio = GPIOC,
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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_AF,
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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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.slave_count = 1,
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.ssel = { {
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.gpio = GPIOD,
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.init = {
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.GPIO_Pin = GPIO_Pin_2,
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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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uint32_t pios_spi_flash_id;
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void PIOS_SPI_flash_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_flash_id);
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}
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#endif /* PIOS_FLASH_ON_ACCEL */
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#endif /* PIOS_INCLUDE_SPI */
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#include <pios_usart_priv.h>
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#if defined(PIOS_INCLUDE_GPS)
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/*
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* GPS USART
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*/
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static const struct pios_usart_cfg pios_usart_gps_cfg = {
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.regs = USART1,
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.remap = GPIO_AF_USART1,
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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 = {
|
|
.NVIC_IRQChannel = USART1_IRQn,
|
|
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
|
|
.NVIC_IRQChannelSubPriority = 0,
|
|
.NVIC_IRQChannelCmd = ENABLE,
|
|
},
|
|
},
|
|
.rx = {
|
|
.gpio = GPIOA,
|
|
.init = {
|
|
.GPIO_Pin = GPIO_Pin_10,
|
|
.GPIO_Speed = GPIO_Speed_2MHz,
|
|
.GPIO_Mode = GPIO_Mode_AF,
|
|
.GPIO_OType = GPIO_OType_PP,
|
|
.GPIO_PuPd = GPIO_PuPd_UP
|
|
},
|
|
},
|
|
.tx = {
|
|
.gpio = GPIOA,
|
|
.init = {
|
|
.GPIO_Pin = GPIO_Pin_9,
|
|
.GPIO_Speed = GPIO_Speed_2MHz,
|
|
.GPIO_Mode = GPIO_Mode_AF,
|
|
.GPIO_OType = GPIO_OType_PP,
|
|
.GPIO_PuPd = GPIO_PuPd_UP
|
|
},
|
|
},
|
|
};
|
|
|
|
#endif /* PIOS_INCLUDE_GPS */
|
|
|
|
#ifdef PIOS_INCLUDE_COM_AUX
|
|
/*
|
|
* AUX USART
|
|
*/
|
|
static const struct pios_usart_cfg pios_usart_aux_cfg = {
|
|
.regs = USART1,
|
|
.remap = GPIO_AF_USART1,
|
|
.init = {
|
|
.USART_BaudRate = 230400,
|
|
.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_MID,
|
|
.NVIC_IRQChannelSubPriority = 0,
|
|
.NVIC_IRQChannelCmd = ENABLE,
|
|
},
|
|
},
|
|
.rx = {
|
|
.gpio = GPIOA,
|
|
.init = {
|
|
.GPIO_Pin = GPIO_Pin_10,
|
|
.GPIO_Speed = GPIO_Speed_2MHz,
|
|
.GPIO_Mode = GPIO_Mode_AF,
|
|
.GPIO_OType = GPIO_OType_PP,
|
|
.GPIO_PuPd = GPIO_PuPd_UP
|
|
},
|
|
},
|
|
.tx = {
|
|
.gpio = GPIOA,
|
|
.init = {
|
|
.GPIO_Pin = GPIO_Pin_9,
|
|
.GPIO_Speed = GPIO_Speed_2MHz,
|
|
.GPIO_Mode = GPIO_Mode_AF,
|
|
.GPIO_OType = GPIO_OType_PP,
|
|
.GPIO_PuPd = GPIO_PuPd_UP
|
|
},
|
|
},
|
|
};
|
|
|
|
#endif /* PIOS_COM_AUX */
|
|
|
|
#ifdef PIOS_INCLUDE_COM_TELEM
|
|
/*
|
|
* Telemetry on main USART
|
|
*/
|
|
static const struct pios_usart_cfg pios_usart_telem_main_cfg = {
|
|
.regs = USART6,
|
|
.remap = GPIO_AF_USART6,
|
|
.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 = USART6_IRQn,
|
|
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
|
|
.NVIC_IRQChannelSubPriority = 0,
|
|
.NVIC_IRQChannelCmd = ENABLE,
|
|
},
|
|
},
|
|
.rx = {
|
|
.gpio = GPIOC,
|
|
.init = {
|
|
.GPIO_Pin = GPIO_Pin_7,
|
|
.GPIO_Speed = GPIO_Speed_2MHz,
|
|
.GPIO_Mode = GPIO_Mode_AF,
|
|
.GPIO_OType = GPIO_OType_PP,
|
|
.GPIO_PuPd = GPIO_PuPd_UP
|
|
},
|
|
},
|
|
.tx = {
|
|
.gpio = GPIOC,
|
|
.init = {
|
|
.GPIO_Pin = GPIO_Pin_6,
|
|
.GPIO_Speed = GPIO_Speed_2MHz,
|
|
.GPIO_Mode = GPIO_Mode_AF,
|
|
.GPIO_OType = GPIO_OType_PP,
|
|
.GPIO_PuPd = GPIO_PuPd_UP
|
|
},
|
|
},
|
|
};
|
|
|
|
#endif /* PIOS_COM_TELEM */
|
|
|
|
#if defined(PIOS_INCLUDE_DSM)
|
|
/*
|
|
* Spektrum/JR DSM USART
|
|
*/
|
|
#include <pios_dsm_priv.h>
|
|
|
|
static const struct pios_usart_cfg pios_usart_dsm_main_cfg = {
|
|
.regs = USART3,
|
|
.remap = GPIO_AF_USART3,
|
|
.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 = USART3_IRQn,
|
|
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
|
|
.NVIC_IRQChannelSubPriority = 0,
|
|
.NVIC_IRQChannelCmd = ENABLE,
|
|
},
|
|
},
|
|
.rx = {
|
|
.gpio = GPIOB,
|
|
.init = {
|
|
.GPIO_Pin = GPIO_Pin_11,
|
|
.GPIO_Speed = GPIO_Speed_2MHz,
|
|
.GPIO_Mode = GPIO_Mode_AF,
|
|
.GPIO_OType = GPIO_OType_PP,
|
|
.GPIO_PuPd = GPIO_PuPd_UP
|
|
},
|
|
},
|
|
.tx = {
|
|
.gpio = GPIOB,
|
|
.init = {
|
|
.GPIO_Pin = GPIO_Pin_10,
|
|
.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_main_cfg = {
|
|
.bind = {
|
|
.gpio = GPIOB,
|
|
.init = {
|
|
.GPIO_Pin = GPIO_Pin_11,
|
|
.GPIO_Speed = GPIO_Speed_2MHz,
|
|
.GPIO_Mode = GPIO_Mode_OUT,
|
|
.GPIO_OType = GPIO_OType_PP,
|
|
.GPIO_PuPd = GPIO_PuPd_NOPULL
|
|
},
|
|
},
|
|
};
|
|
|
|
|
|
static const struct pios_usart_cfg pios_usart_dsm_flexi_cfg = {
|
|
.regs = USART3,
|
|
.remap = GPIO_AF_USART3,
|
|
.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 = USART3_IRQn,
|
|
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
|
|
.NVIC_IRQChannelSubPriority = 0,
|
|
.NVIC_IRQChannelCmd = ENABLE,
|
|
},
|
|
},
|
|
.rx = {
|
|
.gpio = GPIOB,
|
|
.init = {
|
|
.GPIO_Pin = GPIO_Pin_11,
|
|
.GPIO_Speed = GPIO_Speed_2MHz,
|
|
.GPIO_Mode = GPIO_Mode_AF,
|
|
.GPIO_OType = GPIO_OType_PP,
|
|
.GPIO_PuPd = GPIO_PuPd_UP
|
|
},
|
|
},
|
|
.tx = {
|
|
.gpio = GPIOB,
|
|
.init = {
|
|
.GPIO_Pin = GPIO_Pin_10,
|
|
.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 = GPIOB,
|
|
.init = {
|
|
.GPIO_Pin = GPIO_Pin_11,
|
|
.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_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_mag_adapter_ev_irq_handler(void);
|
|
void PIOS_I2C_mag_adapter_er_irq_handler(void);
|
|
void I2C1_EV_IRQHandler()
|
|
__attribute__ ((alias("PIOS_I2C_mag_adapter_ev_irq_handler")));
|
|
void I2C1_ER_IRQHandler()
|
|
__attribute__ ((alias("PIOS_I2C_mag_adapter_er_irq_handler")));
|
|
|
|
static const struct pios_i2c_adapter_cfg pios_i2c_mag_adapter_cfg = {
|
|
.regs = I2C1,
|
|
.remap = 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_NOPULL,
|
|
},
|
|
},
|
|
.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_NOPULL,
|
|
},
|
|
},
|
|
.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_mag_adapter_id;
|
|
void PIOS_I2C_mag_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_mag_adapter_id);
|
|
}
|
|
|
|
void PIOS_I2C_mag_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_mag_adapter_id);
|
|
}
|
|
|
|
|
|
void PIOS_I2C_flexiport_adapter_ev_irq_handler(void);
|
|
void PIOS_I2C_flexiport_adapter_er_irq_handler(void);
|
|
void I2C2_EV_IRQHandler() __attribute__ ((alias ("PIOS_I2C_flexiport_adapter_ev_irq_handler")));
|
|
void I2C2_ER_IRQHandler() __attribute__ ((alias ("PIOS_I2C_flexiport_adapter_er_irq_handler")));
|
|
|
|
static const struct pios_i2c_adapter_cfg pios_i2c_flexiport_adapter_cfg = {
|
|
.regs = I2C2,
|
|
.remap = GPIO_AF_I2C2,
|
|
.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_10,
|
|
.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_11,
|
|
.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 = I2C2_EV_IRQn,
|
|
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST,
|
|
.NVIC_IRQChannelSubPriority = 0,
|
|
.NVIC_IRQChannelCmd = ENABLE,
|
|
},
|
|
},
|
|
.error = {
|
|
.flags = 0, /* FIXME: check this */
|
|
.init = {
|
|
.NVIC_IRQChannel = I2C2_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);
|
|
}
|
|
|
|
|
|
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,
|
|
.remap = GPIO_AF_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 = 40000, /* 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 = GPIOC,
|
|
.init = {
|
|
.GPIO_Pin = GPIO_Pin_9,
|
|
.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);
|
|
}
|
|
#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_Div16, // 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
|
|
|
|
#include "pios_tim_priv.h"
|
|
|
|
static const TIM_TimeBaseInitTypeDef tim_3_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_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_3_cfg = {
|
|
.timer = TIM3,
|
|
.time_base_init = &tim_3_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_3_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_9_cfg = {
|
|
.timer = TIM9,
|
|
.time_base_init = &tim_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_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_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 APB2
|
|
static const TIM_TimeBaseInitTypeDef tim_1_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,
|
|
};
|
|
// Set up timers that only have inputs on APB2
|
|
static const TIM_TimeBaseInitTypeDef tim_4_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,
|
|
};
|
|
|
|
static const struct pios_tim_clock_cfg tim_1_cfg = {
|
|
.timer = TIM1,
|
|
.time_base_init = &tim_1_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_4_cfg = {
|
|
.timer = TIM4,
|
|
.time_base_init = &tim_4_time_base,
|
|
.irq = {
|
|
.init = {
|
|
.NVIC_IRQChannel = TIM4_IRQn,
|
|
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
|
|
.NVIC_IRQChannelSubPriority = 0,
|
|
.NVIC_IRQChannelCmd = ENABLE,
|
|
},
|
|
},
|
|
};
|
|
|
|
/**
|
|
* Pios servo configuration structures
|
|
*/
|
|
#include <pios_servo_priv.h>
|
|
static const struct pios_tim_channel pios_tim_servoport_all_pins[] = {
|
|
{
|
|
.timer = TIM9,
|
|
.timer_chan = TIM_Channel_1,
|
|
.pin = {
|
|
.gpio = GPIOE,
|
|
.init = {
|
|
.GPIO_Pin = GPIO_Pin_5,
|
|
.GPIO_Speed = GPIO_Speed_2MHz,
|
|
.GPIO_Mode = GPIO_Mode_AF,
|
|
.GPIO_OType = GPIO_OType_PP,
|
|
.GPIO_PuPd = GPIO_PuPd_UP
|
|
},
|
|
.pin_source = GPIO_PinSource5,
|
|
},
|
|
.remap = GPIO_AF_TIM9,
|
|
},
|
|
{
|
|
.timer = TIM9,
|
|
.timer_chan = TIM_Channel_2,
|
|
.pin = {
|
|
.gpio = GPIOE,
|
|
.init = {
|
|
.GPIO_Pin = GPIO_Pin_6,
|
|
.GPIO_Speed = GPIO_Speed_2MHz,
|
|
.GPIO_Mode = GPIO_Mode_AF,
|
|
.GPIO_OType = GPIO_OType_PP,
|
|
.GPIO_PuPd = GPIO_PuPd_UP
|
|
},
|
|
.pin_source = GPIO_PinSource6,
|
|
},
|
|
.remap = GPIO_AF_TIM9,
|
|
},
|
|
{
|
|
.timer = TIM10,
|
|
.timer_chan = TIM_Channel_1,
|
|
.pin = {
|
|
.gpio = GPIOB,
|
|
.init = {
|
|
.GPIO_Pin = GPIO_Pin_8,
|
|
.GPIO_Speed = GPIO_Speed_2MHz,
|
|
.GPIO_Mode = GPIO_Mode_AF,
|
|
.GPIO_OType = GPIO_OType_PP,
|
|
.GPIO_PuPd = GPIO_PuPd_UP
|
|
},
|
|
.pin_source = GPIO_PinSource8,
|
|
},
|
|
.remap = GPIO_AF_TIM10,
|
|
},
|
|
{
|
|
.timer = TIM11,
|
|
.timer_chan = TIM_Channel_1,
|
|
.pin = {
|
|
.gpio = GPIOB,
|
|
.init = {
|
|
.GPIO_Pin = GPIO_Pin_9,
|
|
.GPIO_Speed = GPIO_Speed_2MHz,
|
|
.GPIO_Mode = GPIO_Mode_AF,
|
|
.GPIO_OType = GPIO_OType_PP,
|
|
.GPIO_PuPd = GPIO_PuPd_UP
|
|
},
|
|
.pin_source = GPIO_PinSource9,
|
|
},
|
|
.remap = GPIO_AF_TIM11,
|
|
},
|
|
{
|
|
.timer = TIM5,
|
|
.timer_chan = TIM_Channel_3,
|
|
.pin = {
|
|
.gpio = GPIOA,
|
|
.init = {
|
|
.GPIO_Pin = GPIO_Pin_2,
|
|
.GPIO_Speed = GPIO_Speed_2MHz,
|
|
.GPIO_Mode = GPIO_Mode_AF,
|
|
.GPIO_OType = GPIO_OType_PP,
|
|
.GPIO_PuPd = GPIO_PuPd_UP
|
|
},
|
|
.pin_source = GPIO_PinSource2,
|
|
},
|
|
.remap = GPIO_AF_TIM5,
|
|
},
|
|
{
|
|
.timer = TIM5,
|
|
.timer_chan = TIM_Channel_4,
|
|
.pin = {
|
|
.gpio = GPIOA,
|
|
.init = {
|
|
.GPIO_Pin = GPIO_Pin_3,
|
|
.GPIO_Speed = GPIO_Speed_2MHz,
|
|
.GPIO_Mode = GPIO_Mode_AF,
|
|
.GPIO_OType = GPIO_OType_PP,
|
|
.GPIO_PuPd = GPIO_PuPd_UP
|
|
},
|
|
.pin_source = GPIO_PinSource3,
|
|
},
|
|
.remap = GPIO_AF_TIM5,
|
|
},
|
|
{
|
|
.timer = TIM3,
|
|
.timer_chan = TIM_Channel_3,
|
|
.pin = {
|
|
.gpio = GPIOB,
|
|
.init = {
|
|
.GPIO_Pin = GPIO_Pin_0,
|
|
.GPIO_Speed = GPIO_Speed_2MHz,
|
|
.GPIO_Mode = GPIO_Mode_AF,
|
|
.GPIO_OType = GPIO_OType_PP,
|
|
.GPIO_PuPd = GPIO_PuPd_UP
|
|
},
|
|
.pin_source = GPIO_PinSource0,
|
|
},
|
|
.remap = GPIO_AF_TIM3,
|
|
},
|
|
{
|
|
.timer = TIM3,
|
|
.timer_chan = TIM_Channel_4,
|
|
.pin = {
|
|
.gpio = GPIOB,
|
|
.init = {
|
|
.GPIO_Pin = GPIO_Pin_1,
|
|
.GPIO_Speed = GPIO_Speed_2MHz,
|
|
.GPIO_Mode = GPIO_Mode_AF,
|
|
.GPIO_OType = GPIO_OType_PP,
|
|
.GPIO_PuPd = GPIO_PuPd_UP
|
|
},
|
|
.pin_source = GPIO_PinSource1,
|
|
},
|
|
.remap = GPIO_AF_TIM3,
|
|
},
|
|
};
|
|
|
|
const struct pios_servo_cfg pios_servo_cfg = {
|
|
.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 = NELEMENTS(pios_tim_servoport_all_pins),
|
|
};
|
|
|
|
|
|
/*
|
|
* PWM Inputs
|
|
*/
|
|
#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[] = {
|
|
{
|
|
.timer = TIM4,
|
|
.timer_chan = TIM_Channel_4,
|
|
.pin = {
|
|
.gpio = GPIOD,
|
|
.init = {
|
|
.GPIO_Pin = GPIO_Pin_15,
|
|
.GPIO_Speed = GPIO_Speed_2MHz,
|
|
.GPIO_Mode = GPIO_Mode_AF,
|
|
.GPIO_OType = GPIO_OType_PP,
|
|
.GPIO_PuPd = GPIO_PuPd_UP
|
|
},
|
|
.pin_source = GPIO_PinSource15,
|
|
},
|
|
.remap = GPIO_AF_TIM4,
|
|
},
|
|
{
|
|
.timer = TIM4,
|
|
.timer_chan = TIM_Channel_3,
|
|
.pin = {
|
|
.gpio = GPIOD,
|
|
.init = {
|
|
.GPIO_Pin = GPIO_Pin_14,
|
|
.GPIO_Speed = GPIO_Speed_2MHz,
|
|
.GPIO_Mode = GPIO_Mode_AF,
|
|
.GPIO_OType = GPIO_OType_PP,
|
|
.GPIO_PuPd = GPIO_PuPd_UP
|
|
},
|
|
.pin_source = GPIO_PinSource14,
|
|
},
|
|
.remap = GPIO_AF_TIM4,
|
|
},
|
|
{
|
|
.timer = TIM4,
|
|
.timer_chan = TIM_Channel_2,
|
|
.pin = {
|
|
.gpio = GPIOD,
|
|
.init = {
|
|
.GPIO_Pin = GPIO_Pin_13,
|
|
.GPIO_Speed = GPIO_Speed_2MHz,
|
|
.GPIO_Mode = GPIO_Mode_AF,
|
|
.GPIO_OType = GPIO_OType_PP,
|
|
.GPIO_PuPd = GPIO_PuPd_UP
|
|
},
|
|
.pin_source = GPIO_PinSource13,
|
|
},
|
|
.remap = GPIO_AF_TIM4,
|
|
},
|
|
{
|
|
.timer = TIM4,
|
|
.timer_chan = TIM_Channel_1,
|
|
.pin = {
|
|
.gpio = GPIOD,
|
|
.init = {
|
|
.GPIO_Pin = GPIO_Pin_12,
|
|
.GPIO_Speed = GPIO_Speed_2MHz,
|
|
.GPIO_Mode = GPIO_Mode_AF,
|
|
.GPIO_OType = GPIO_OType_PP,
|
|
.GPIO_PuPd = GPIO_PuPd_UP
|
|
},
|
|
.pin_source = GPIO_PinSource12,
|
|
},
|
|
.remap = GPIO_AF_TIM4,
|
|
},
|
|
{
|
|
.timer = TIM1,
|
|
.timer_chan = TIM_Channel_4,
|
|
.pin = {
|
|
.gpio = GPIOE,
|
|
.init = {
|
|
.GPIO_Pin = GPIO_Pin_14,
|
|
.GPIO_Speed = GPIO_Speed_2MHz,
|
|
.GPIO_Mode = GPIO_Mode_AF,
|
|
.GPIO_OType = GPIO_OType_PP,
|
|
.GPIO_PuPd = GPIO_PuPd_UP
|
|
},
|
|
.pin_source = GPIO_PinSource14,
|
|
},
|
|
.remap = GPIO_AF_TIM1,
|
|
},
|
|
{
|
|
.timer = TIM1,
|
|
.timer_chan = TIM_Channel_3,
|
|
.pin = {
|
|
.gpio = GPIOE,
|
|
.init = {
|
|
.GPIO_Pin = GPIO_Pin_13,
|
|
.GPIO_Speed = GPIO_Speed_2MHz,
|
|
.GPIO_Mode = GPIO_Mode_AF,
|
|
.GPIO_OType = GPIO_OType_PP,
|
|
.GPIO_PuPd = GPIO_PuPd_UP
|
|
},
|
|
.pin_source = GPIO_PinSource13,
|
|
},
|
|
.remap = GPIO_AF_TIM1,
|
|
},
|
|
{
|
|
.timer = TIM1,
|
|
.timer_chan = TIM_Channel_2,
|
|
.pin = {
|
|
.gpio = GPIOE,
|
|
.init = {
|
|
.GPIO_Pin = GPIO_Pin_11,
|
|
.GPIO_Speed = GPIO_Speed_2MHz,
|
|
.GPIO_Mode = GPIO_Mode_AF,
|
|
.GPIO_OType = GPIO_OType_PP,
|
|
.GPIO_PuPd = GPIO_PuPd_UP
|
|
},
|
|
.pin_source = GPIO_PinSource11,
|
|
},
|
|
.remap = GPIO_AF_TIM1,
|
|
},
|
|
{
|
|
.timer = TIM1,
|
|
.timer_chan = TIM_Channel_1,
|
|
.pin = {
|
|
.gpio = GPIOE,
|
|
.init = {
|
|
.GPIO_Pin = GPIO_Pin_9,
|
|
.GPIO_Speed = GPIO_Speed_2MHz,
|
|
.GPIO_Mode = GPIO_Mode_AF,
|
|
.GPIO_OType = GPIO_OType_PP,
|
|
.GPIO_PuPd = GPIO_PuPd_UP
|
|
},
|
|
.pin_source = GPIO_PinSource9,
|
|
},
|
|
.remap = GPIO_AF_TIM1,
|
|
},
|
|
};
|
|
|
|
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
|
|
|
|
/*
|
|
* 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_2,
|
|
},
|
|
/* Use only the first channel for ppm */
|
|
.channels = &pios_tim_rcvrport_all_channels[0],
|
|
.num_channels = 1,
|
|
};
|
|
|
|
#endif //PPM
|
|
|
|
#if defined(PIOS_INCLUDE_RCVR)
|
|
#include "pios_rcvr_priv.h"
|
|
|
|
#endif
|
|
|
|
#if defined(PIOS_INCLUDE_USB)
|
|
#include "pios_usb_priv.h"
|
|
|
|
static const struct pios_usb_cfg pios_usb_main_cfg = {
|
|
.irq = {
|
|
.init = {
|
|
.NVIC_IRQChannel = OTG_FS_IRQn,
|
|
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW,
|
|
.NVIC_IRQChannelSubPriority = 3,
|
|
.NVIC_IRQChannelCmd = ENABLE,
|
|
},
|
|
},
|
|
.vsense = {
|
|
.gpio = GPIOD,
|
|
.init = {
|
|
.GPIO_Pin = GPIO_Pin_11,
|
|
.GPIO_Speed = GPIO_Speed_25MHz,
|
|
.GPIO_Mode = GPIO_Mode_IN,
|
|
.GPIO_OType = GPIO_OType_OD,
|
|
},
|
|
}
|
|
};
|
|
|
|
#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 */
|
|
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#if defined(PIOS_INCLUDE_COM_MSG)
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#include <pios_com_msg_priv.h>
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#endif /* PIOS_INCLUDE_COM_MSG */
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#if defined(PIOS_INCLUDE_USB_HID)
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#include <pios_usb_hid_priv.h>
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const struct pios_usb_hid_cfg pios_usb_hid_cfg = {
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.data_if = 0,
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.data_rx_ep = 1,
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.data_tx_ep = 1,
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};
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#endif /* PIOS_INCLUDE_USB_HID */
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#if defined(PIOS_INCLUDE_USB_CDC)
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#include <pios_usb_cdc_priv.h>
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const struct pios_usb_cdc_cfg pios_usb_cdc_cfg = {
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.ctrl_if = 1,
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.ctrl_tx_ep = 2,
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.data_if = 2,
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.data_rx_ep = 3,
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.data_tx_ep = 3,
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};
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#endif /* PIOS_INCLUDE_USB_CDC */
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