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LibrePilot/flight/targets/boards/revonano/board_hw_defs.c

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/**
******************************************************************************
* @file board_hw_defs.c
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015.
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
* @addtogroup OpenPilotSystem OpenPilot System
* @{
* @addtogroup OpenPilotCore OpenPilot Core
* @{
* @brief Defines board specific static initializers for hardware for the Revolution board.
*****************************************************************************/
/*
* 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>
/* I/O mapping
* I/O | PIN | Channel | Alternate function
* I1 | PB10 | TIM2_CH3 | x
* i2 | PB1 | TIM3_CH4 | ADC1_9
* I3 | PB0 | TIM3_CH3 | ADC1_8
* I4 | PA7 | TIM3_CH2 | SPI1_MOSI/ADC1_7
* I5 | PA6 | TIM3_CH1 | SPI1_MISO/ADC1_6
* I6 | PA5 | TIM2_CH1 | SPI1_SCK/ADC1_5
*------------------------------------
* o1 | PA10 | TIM1_CH3 | USART1_RX
* o2 | PB3 | TIM2_CH2 | I2C2_SDA,
* o3 | PB8 | TIM10_CH1
* o4 | PB9 | TIM11_CH1
* o5 | PA0 | TIM5_CH1 | ADC1_0
* o6 | PA1 | TIM5_CH2 | ADC1_1
*/
#define MAIN_USART_REGS USART2
#define MAIN_USART_REMAP GPIO_AF_USART2
#define MAIN_USART_IRQ USART2_IRQn
#define MAIN_USART_RX_GPIO GPIOA
#define MAIN_USART_RX_PIN GPIO_Pin_3
#define MAIN_USART_TX_GPIO GPIOA
#define MAIN_USART_TX_PIN GPIO_Pin_2
// Inverter for SBUS handling
#define MAIN_USART_INVERTER_GPIO GPIOC
#define MAIN_USART_INVERTER_PIN GPIO_Pin_15
#define MAIN_USART_INVERTER_ENABLE Bit_SET
#define MAIN_USART_INVERTER_DISABLE Bit_RESET
#define FLEXI_USART_REGS USART1
#define FLEXI_USART_REMAP GPIO_AF_USART1
#define FLEXI_USART_IRQ USART1_IRQn
#define FLEXI_USART_RX_GPIO GPIOB
#define FLEXI_USART_RX_PIN GPIO_Pin_7
#define FLEXI_USART_TX_GPIO GPIOB
#define FLEXI_USART_TX_PIN GPIO_Pin_6
// ReceiverPort pin 3
#define FLEXI_USART_DTR_GPIO GPIOB
#define FLEXI_USART_DTR_PIN GPIO_Pin_10
#if defined(PIOS_INCLUDE_LED)
#include <pios_led_priv.h>
static const struct pios_gpio pios_leds[] = {
[PIOS_LED_HEARTBEAT] = {
.pin = {
.gpio = GPIOC,
.init = {
.GPIO_Pin = GPIO_Pin_14,
.GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_Mode = GPIO_Mode_OUT,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP
},
},
.active_low = true
},
[PIOS_LED_ALARM] = {
.pin = {
.gpio = GPIOC,
.init = {
.GPIO_Pin = GPIO_Pin_13,
.GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_Mode = GPIO_Mode_OUT,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP
},
},
.active_low = true
},
};
static const struct pios_gpio_cfg pios_led_cfg = {
.gpios = pios_leds,
.num_gpios = NELEMENTS(pios_leds),
};
const struct pios_gpio_cfg *PIOS_BOARD_HW_DEFS_GetLedCfg(__attribute__((unused)) uint32_t board_revision)
{
return &pios_led_cfg;
}
#endif /* PIOS_INCLUDE_LED */
#if defined(PIOS_INCLUDE_SPI)
#include <pios_spi_priv.h>
/*
* SPI2 Interface
* Used for MPU9250 gyro and accelerometer
*/
void PIOS_SPI_gyro_irq_handler(void);
void DMA1_Stream3_IRQHandler(void) __attribute__((alias("PIOS_SPI_gyro_irq_handler")));
void DMA1_Stream4_IRQHandler(void) __attribute__((alias("PIOS_SPI_gyro_irq_handler")));
static const struct pios_spi_cfg pios_spi_gyro_cfg = {
.regs = SPI2,
.remap = GPIO_AF_SPI2,
.init = {
.SPI_Mode = SPI_Mode_Master,
.SPI_Direction = SPI_Direction_2Lines_FullDuplex,
.SPI_DataSize = SPI_DataSize_8b,
.SPI_NSS = SPI_NSS_Soft,
.SPI_FirstBit = SPI_FirstBit_MSB,
.SPI_CRCPolynomial = 7,
.SPI_CPOL = SPI_CPOL_High,
.SPI_CPHA = SPI_CPHA_2Edge,
.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_16,
},
.use_crc = false,
.dma = {
.irq = {
.flags = (DMA_IT_TCIF0 | DMA_IT_TEIF0 | DMA_IT_HTIF0),
.init = {
.NVIC_IRQChannel = DMA1_Stream4_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.rx = {
.channel = DMA1_Stream3,
.init = {
.DMA_Channel = DMA_Channel_0,
.DMA_PeripheralBaseAddr = (uint32_t)&(SPI2->DR),
.DMA_DIR = DMA_DIR_PeripheralToMemory,
.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_FIFOMode = DMA_FIFOMode_Disable,
/* .DMA_FIFOThreshold */
.DMA_MemoryBurst = DMA_MemoryBurst_Single,
.DMA_PeripheralBurst = DMA_PeripheralBurst_Single,
},
},
.tx = {
.channel = DMA1_Stream4,
.init = {
.DMA_Channel = DMA_Channel_0,
.DMA_PeripheralBaseAddr = (uint32_t)&(SPI2->DR),
.DMA_DIR = DMA_DIR_MemoryToPeripheral,
.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_High,
.DMA_FIFOMode = DMA_FIFOMode_Disable,
/* .DMA_FIFOThreshold */
.DMA_MemoryBurst = DMA_MemoryBurst_Single,
.DMA_PeripheralBurst = DMA_PeripheralBurst_Single,
},
},
},
.sclk = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_13,
.GPIO_Speed = GPIO_Speed_100MHz,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP
},
},
.miso = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_14,
.GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP
},
},
.mosi = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_15,
.GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP
},
},
.slave_count = 1,
.ssel = {
{
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_12,
.GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_Mode = GPIO_Mode_OUT,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP
}
}
}
};
uint32_t pios_spi_gyro_adapter_id;
void PIOS_SPI_gyro_irq_handler(void)
{
/* Call into the generic code to handle the IRQ for this specific device */
PIOS_SPI_IRQ_Handler(pios_spi_gyro_adapter_id);
}
#endif /* PIOS_INCLUDE_SPI */
#include <pios_usart_priv.h>
/*
* MAIN USART
*/
static int32_t PIOS_BOARD_USART_Ioctl(uint32_t usart_id, uint32_t ctl, void *param);
static const struct pios_usart_cfg pios_usart_main_cfg = {
.regs = MAIN_USART_REGS,
.remap = MAIN_USART_REMAP,
.rx = {
.gpio = MAIN_USART_RX_GPIO,
.init = {
.GPIO_Pin = MAIN_USART_RX_PIN,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP
},
},
.tx = {
.gpio = MAIN_USART_TX_GPIO,
.init = {
.GPIO_Pin = MAIN_USART_TX_PIN,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP
},
},
.ioctl = PIOS_BOARD_USART_Ioctl,
};
/*
* FLEXI PORT
*/
static const struct pios_usart_cfg pios_usart_flexi_cfg = {
.regs = FLEXI_USART_REGS,
.remap = FLEXI_USART_REMAP,
.rx = {
.gpio = FLEXI_USART_RX_GPIO,
.init = {
.GPIO_Pin = FLEXI_USART_RX_PIN,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP
},
},
.tx = {
.gpio = FLEXI_USART_TX_GPIO,
.init = {
.GPIO_Pin = FLEXI_USART_TX_PIN,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP
},
},
// .dtr = {
// .gpio = FLEXI_USART_DTR_GPIO,
// .init = {
// .GPIO_Pin = FLEXI_USART_DTR_PIN,
// .GPIO_Speed = GPIO_Speed_25MHz,
// .GPIO_Mode = GPIO_Mode_OUT,
// .GPIO_OType = GPIO_OType_PP,
// },
// },
};
#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_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_eeprom_pressure_adapter_cfg = {
.regs = I2C3,
.remapSCL = GPIO_AF_I2C3,
.remapSDA = GPIO_AF9_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 = 400000, /* 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 = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_4,
.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_eeprom_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_eeprom_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_eeprom_pressure_adapter_id);
}
void PIOS_I2C_flexiport_adapter_ev_irq_handler(void);
void PIOS_I2C_flexiport_adapter_er_irq_handler(void);
void I2C1_EV_IRQHandler() __attribute__((alias("PIOS_I2C_flexiport_adapter_ev_irq_handler")));
void I2C1_ER_IRQHandler() __attribute__((alias("PIOS_I2C_flexiport_adapter_er_irq_handler")));
static const struct pios_i2c_adapter_cfg pios_i2c_flexiport_adapter_cfg = {
.regs = I2C1,
.remapSCL = GPIO_AF_I2C1,
.remapSDA = 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_UP,
},
},
.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_UP,
},
},
.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_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);
}
#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_Div8, // 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 /* if defined(PIOS_INCLUDE_RTC) */
#include "pios_tim_priv.h"
static const TIM_TimeBaseInitTypeDef tim_2_3_4_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_1_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_2_cfg = {
.timer = TIM2,
.time_base_init = &tim_2_3_4_5_time_base,
.irq = {
.init = {
.NVIC_IRQChannel = TIM2_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
};
/*
static const struct pios_tim_clock_cfg tim_3_cfg = {
.timer = TIM3,
.time_base_init = &tim_2_3_4_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_2_3_4_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_1_cfg = {
.timer = TIM1,
.time_base_init = &tim_1_9_10_11_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_9_cfg = {
.timer = TIM9,
.time_base_init = &tim_1_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_1_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_1_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 APB1
// TIM2,3,4,5
static const TIM_TimeBaseInitTypeDef tim_apb1_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,
};
// Set up timers that only have inputs on APB2
// TIM1,9,10,11
static const TIM_TimeBaseInitTypeDef tim_apb2_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,
};
static const struct pios_tim_clock_cfg tim_3_cfg = {
.timer = TIM3,
.time_base_init = &tim_apb1_time_base,
.irq = {
.init = {
.NVIC_IRQChannel = TIM3_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
};
/**
* Pios servo configuration structures
* I/O | PIN | Channel | Alternate function
* I1 | PB10 | TIM2_CH3 | x
* i2 | PB1 | TIM3_CH4 | ADC1_9
* I3 | PB0 | TIM3_CH3 | ADC1_8
* I4 | PA7 | TIM3_CH2 | SPI1_MOSI/ADC1_7
* I5 | PA6 | TIM3_CH1 | SPI1_MISO/ADC1_6
* I6 | PA5 | TIM2_CH1 | SPI1_SCK/ADC1_5
*------------------------------------
* o1 | PA10 | TIM1_CH3 | USART1_RX
* o2 | PB3 | TIM2_CH2 | I2C2_SDA,
* o3 | PB8 | TIM10_CH1
* o4 | PB9 | TIM11_CH1
* o5 | PA0 | TIM5_CH1 | ADC1_0
* o6 | PA1 | TIM5_CH2 | ADC1_1
*/
#include <pios_servo_priv.h>
#include <pios_servo_config.h>
static const struct pios_tim_channel dummmy_timer =
TIM_SERVO_CHANNEL_CONFIG(TIM9, 1, E, 5); // dummy unused timer + gpio. Hack to free tim1
static struct pios_tim_channel pios_tim_servoport_all_pins[] = {
// TIMER, CHANNEL, GPIO, PIN
TIM_SERVO_CHANNEL_CONFIG(TIM1, 3, A, 10),
TIM_SERVO_CHANNEL_CONFIG(TIM2, 2, B, 3),
TIM_SERVO_CHANNEL_CONFIG(TIM10, 1, B, 8),
TIM_SERVO_CHANNEL_CONFIG(TIM11, 1, B, 9),
TIM_SERVO_CHANNEL_CONFIG(TIM5, 1, A, 0),
TIM_SERVO_CHANNEL_CONFIG(TIM5, 2, A, 1),
// PWM pins on FlexiIO(receiver) port
TIM_SERVO_CHANNEL_CONFIG(TIM2, 3, B, 10),
TIM_SERVO_CHANNEL_CONFIG(TIM3, 3, B, 0),
TIM_SERVO_CHANNEL_CONFIG(TIM3, 2, A, 7),
TIM_SERVO_CHANNEL_CONFIG(TIM3, 1, A, 6),
TIM_SERVO_CHANNEL_CONFIG(TIM2, 1, A, 5),
TIM_SERVO_CHANNEL_CONFIG(TIM3, 4, B, 1),
};
#define PIOS_SERVOPORT_ALL_PINS_PWMOUT 6
#define PIOS_SERVOPORT_ALL_PINS_PWMOUT_IN (NELEMENTS(pios_tim_servoport_all_pins))
#define PIOS_SERVOPORT_ALL_PINS_PWMOUT_IN_PPM (PIOS_SERVOPORT_ALL_PINS_PWMOUT_IN - 1)
const struct pios_servo_cfg pios_servo_cfg_out = {
.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 = PIOS_SERVOPORT_ALL_PINS_PWMOUT,
};
// All servo outputs, servo input ch1 ppm, ch2-6 outputs
const struct pios_servo_cfg pios_servo_cfg_out_in_ppm = {
.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 = PIOS_SERVOPORT_ALL_PINS_PWMOUT_IN_PPM,
};
// All servo outputs, servo inputs ch1-6 Outputs
const struct pios_servo_cfg pios_servo_cfg_out_in = {
.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 = PIOS_SERVOPORT_ALL_PINS_PWMOUT_IN,
};
/*
* PWM Inputs
* TIM1, TIM8, TIM12
*/
#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[] = {
TIM_SERVO_CHANNEL_CONFIG(TIM2, 3, B, 10),
TIM_SERVO_CHANNEL_CONFIG(TIM3, 4, B, 1),
TIM_SERVO_CHANNEL_CONFIG(TIM3, 3, B, 0),
TIM_SERVO_CHANNEL_CONFIG(TIM3, 2, A, 7),
TIM_SERVO_CHANNEL_CONFIG(TIM3, 1, A, 6),
TIM_SERVO_CHANNEL_CONFIG(TIM2, 1, A, 5),
};
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 /* if defined(PIOS_INCLUDE_PWM) || defined(PIOS_INCLUDE_PPM) */
/*
* 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_4,
},
/* Use only the second channel for ppm */
.channels = &pios_tim_servoport_all_pins[PIOS_SERVOPORT_ALL_PINS_PWMOUT_IN - 1],
.num_channels = 1,
};
#endif // PPM
#if defined(PIOS_INCLUDE_GCSRCVR)
#include "pios_gcsrcvr_priv.h"
#endif /* PIOS_INCLUDE_GCSRCVR */
#if defined(PIOS_INCLUDE_RCVR)
#include "pios_rcvr_priv.h"
#endif /* PIOS_INCLUDE_RCVR */
#if defined(PIOS_INCLUDE_USB)
#include "pios_usb_priv.h"
static const struct pios_usb_cfg pios_usb_main_rnano_cfg = {
.irq = {
.init = {
.NVIC_IRQChannel = OTG_FS_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.vsense = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_9,
.GPIO_Speed = GPIO_Speed_25MHz,
.GPIO_Mode = GPIO_Mode_IN,
.GPIO_OType = GPIO_OType_OD,
},
},
.vsense_active_low = false
};
const struct pios_usb_cfg *PIOS_BOARD_HW_DEFS_GetUsbCfg(uint32_t board_revision)
{
switch (board_revision) {
default:
return &pios_usb_main_rnano_cfg;
break;
}
return NULL;
}
#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 */
#if defined(PIOS_INCLUDE_COM_MSG)
#include <pios_com_msg_priv.h>
#endif /* PIOS_INCLUDE_COM_MSG */
#ifdef PIOS_INCLUDE_WS2811
#include <pios_ws2811_cfg.h>
#include <hwsettings.h>
#define PIOS_WS2811_TIM_DIVIDER (PIOS_PERIPHERAL_APB2_CLOCK / (800000 * PIOS_WS2811_TIM_PERIOD))
void DMA2_Stream1_IRQHandler(void) __attribute__((alias("PIOS_WS2811_irq_handler")));
// list of pin configurable as ws281x outputs.
// this will not clash with PWM in or servo output as
// pins will be reconfigured as _OUT so the alternate function is disabled.
const struct pios_ws2811_pin_cfg pios_ws2811_pin_cfg[] = {
[HWSETTINGS_WS2811LED_OUT_SERVOOUT1] = {
.gpio = GPIOA,
.gpioInit = {
.GPIO_Pin = GPIO_Pin_10,
.GPIO_Speed = GPIO_Speed_25MHz,
.GPIO_Mode = GPIO_Mode_OUT,
.GPIO_OType = GPIO_OType_PP,
},
},
};
const struct pios_ws2811_cfg pios_ws2811_cfg = {
.timer = TIM1,
.timerInit = {
.TIM_Prescaler = PIOS_WS2811_TIM_DIVIDER - 1,
.TIM_ClockDivision = TIM_CKD_DIV1,
.TIM_CounterMode = TIM_CounterMode_Up,
// period (1.25 uS per period
.TIM_Period = PIOS_WS2811_TIM_PERIOD,
.TIM_RepetitionCounter = 0x0000,
},
.timerCh1 = 1,
.streamCh1 = DMA2_Stream1,
.timerCh2 = 3,
.streamCh2 = DMA2_Stream6,
.streamUpdate = DMA2_Stream5,
// DMA streamCh1, triggered by timerCh1 pwm signal.
// if FrameBuffer indicates, reset output value early to indicate "0" bit to ws2812
.dmaInitCh1 = PIOS_WS2811_DMA_CH1_CONFIG(DMA_Channel_6),
.dmaItCh1 = DMA_IT_TEIF1 | DMA_IT_TCIF1,
// DMA streamCh2, triggered by timerCh2 pwm signal.
// Reset output value late to indicate "1" bit to ws2812.
.dmaInitCh2 = PIOS_WS2811_DMA_CH2_CONFIG(DMA_Channel_6),
.dmaItCh2 = DMA_IT_TEIF6 | DMA_IT_TCIF6,
// DMA streamUpdate Triggered by timer update event
// Outputs a high logic level at beginning of a cycle
.dmaInitUpdate = PIOS_WS2811_DMA_UPDATE_CONFIG(DMA_Channel_6),
.dmaItUpdate = DMA_IT_TEIF5 | DMA_IT_TCIF5,
.dmaSource = TIM_DMA_CC1 | TIM_DMA_CC3 | TIM_DMA_Update,
// DMAInitCh1 interrupt vector, used to block timer at end of framebuffer transfer
.irq = {
.flags = (DMA_IT_TCIF1),
.init = {
.NVIC_IRQChannel = DMA2_Stream1_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
};
void PIOS_WS2811_irq_handler(void)
{
PIOS_WS2811_DMA_irq_handler();
}
#endif // PIOS_INCLUDE_WS2811
#ifdef PIOS_INCLUDE_FLASH_OBJLIST
#include <pios_flashfs_objlist.h>
struct flashfs_cfg flash_main_fs_cfg = {
.table_magic = 0x01020304,
.obj_magic = 0x19293949,
.obj_table_start = 0x00000010,
.obj_table_end = 0x1000,
.sector_size = 0x100,
.chip_size = 0x10000
};
#endif /* PIOS_INCLUDE_FLASH_OBJLIST */
#ifdef PIOS_INCLUDE_FLASH_EEPROM
#include <pios_flash_eeprom.h>
struct pios_flash_eeprom_cfg flash_main_chip_cfg = {
.page_len = 128,
.total_size = 0x10000,
};
// .i2c_address = 0x50,
#endif /* PIOS_INCLUDE_FLASH_EEPROM */
/**
* Sensor configurations
*/
#if defined(PIOS_INCLUDE_ADC)
#include "pios_adc_priv.h"
void PIOS_ADC_DMC_irq_handler(void);
void DMA2_Stream4_IRQHandler(void) __attribute__((alias("PIOS_ADC_DMC_irq_handler")));
struct pios_adc_cfg pios_adc_cfg = {
.adc_dev = ADC1,
.dma = {
.irq = {
.flags = (DMA_FLAG_TCIF4 | DMA_FLAG_TEIF4 | DMA_FLAG_HTIF4),
.init = {
.NVIC_IRQChannel = DMA2_Stream4_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.rx = {
.channel = DMA2_Stream4,
.init = {
.DMA_Channel = DMA_Channel_0,
.DMA_PeripheralBaseAddr = (uint32_t)&ADC1->DR
},
}
},
.half_flag = DMA_IT_HTIF4,
.full_flag = DMA_IT_TCIF4,
};
void PIOS_ADC_DMC_irq_handler(void)
{
/* Call into the generic code to handle the IRQ for this specific device */
PIOS_ADC_DMA_Handler();
}
const struct pios_adc_cfg *PIOS_BOARD_HW_DEFS_GetAdcCfg(__attribute__((unused)) uint32_t board_revision)
{
return &pios_adc_cfg;
}
#endif /* if defined(PIOS_INCLUDE_ADC) */
#if defined(PIOS_INCLUDE_HMC5X83)
#include "pios_hmc5x83.h"
static const struct pios_hmc5x83_cfg pios_hmc5x83_external_cfg = {
#ifdef PIOS_HMC5X83_HAS_GPIOS
.exti_cfg = NULL,
#endif
.M_ODR = PIOS_HMC5x83_ODR_75, // if you change this for auxmag, change AUX_MAG_SKIP in sensors.c
.Meas_Conf = PIOS_HMC5x83_MEASCONF_NORMAL,
.Gain = PIOS_HMC5x83_GAIN_1_9,
.Mode = PIOS_HMC5x83_MODE_CONTINUOUS,
.TempCompensation = false,
.Driver = &PIOS_HMC5x83_I2C_DRIVER,
.Orientation = PIOS_HMC5X83_ORIENTATION_EAST_NORTH_UP, // ENU for GPSV9, WND for typical I2C mag
};
const struct pios_hmc5x83_cfg *PIOS_BOARD_HW_DEFS_GetExternalHMC5x83Cfg(__attribute__((unused)) uint32_t board_revision)
{
return &pios_hmc5x83_external_cfg;
}
#endif /* PIOS_INCLUDE_HMC5X83 */
/**
* Configuration for the MS5611 chip
*/
#if defined(PIOS_INCLUDE_MS5611)
#include "pios_ms5611.h"
static const struct pios_ms5611_cfg pios_ms5611_cfg = {
.oversampling = MS5611_OSR_4096,
};
const struct pios_ms5611_cfg *PIOS_BOARD_HW_DEFS_GetMS5611Cfg(__attribute__((unused)) uint32_t board_revision)
{
return &pios_ms5611_cfg;
}
#endif /* PIOS_INCLUDE_MS5611 */
/**
* Configuration for the MPU9250 chip
*/
#if defined(PIOS_INCLUDE_MPU9250)
#include "pios_mpu9250.h"
static const struct pios_exti_cfg pios_exti_mpu9250_cfg __exti_config = {
.vector = PIOS_MPU9250_IRQHandler,
.line = EXTI_Line15,
.pin = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_15,
.GPIO_Speed = GPIO_Speed_100MHz,
.GPIO_Mode = GPIO_Mode_IN,
.GPIO_OType = GPIO_OType_OD,
.GPIO_PuPd = GPIO_PuPd_NOPULL,
},
},
.irq = {
.init = {
.NVIC_IRQChannel = EXTI15_10_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.exti = {
.init = {
.EXTI_Line = EXTI_Line15, // matches above GPIO pin
.EXTI_Mode = EXTI_Mode_Interrupt,
.EXTI_Trigger = EXTI_Trigger_Rising,
.EXTI_LineCmd = ENABLE,
},
},
};
static const struct pios_mpu9250_cfg pios_mpu9250_cfg = {
.exti_cfg = &pios_exti_mpu9250_cfg,
.Fifo_store = 0,
// Clock at 8 khz
.Smpl_rate_div_no_dlp = 0,
// with dlp on output rate is 1000Hz
.Smpl_rate_div_dlp = 0,
.interrupt_cfg = PIOS_MPU9250_INT_CLR_ANYRD, // | PIOS_MPU9250_INT_LATCH_EN,
.interrupt_en = PIOS_MPU9250_INTEN_DATA_RDY,
.User_ctl = PIOS_MPU9250_USERCTL_DIS_I2C | PIOS_MPU9250_USERCTL_I2C_MST_EN,
.Pwr_mgmt_clk = PIOS_MPU9250_PWRMGMT_PLL_Z_CLK,
.accel_range = PIOS_MPU9250_ACCEL_8G,
.gyro_range = PIOS_MPU9250_SCALE_2000_DEG,
.filter = PIOS_MPU9250_LOWPASS_256_HZ,
.orientation = PIOS_MPU9250_TOP_180DEG,
.fast_prescaler = PIOS_SPI_PRESCALER_4,
.std_prescaler = PIOS_SPI_PRESCALER_64,
.max_downsample = 26,
};
const struct pios_mpu9250_cfg *PIOS_BOARD_HW_DEFS_GetMPU9250Cfg(__attribute__((unused)) uint32_t board_revision)
{
return &pios_mpu9250_cfg;
}
#endif /* PIOS_INCLUDE_MPU9250 */
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