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https://bitbucket.org/librepilot/librepilot.git
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2d9f7f32d1
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2499 ebee16cc-31ac-478f-84a7-5cbb03baadba
699 lines
18 KiB
C
699 lines
18 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 pios_board.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief Defines board specific static initializers for hardware for the OpenPilot board.
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#include <pios.h>
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#include <pios_spi_priv.h>
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#include <pios_usart_priv.h>
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#include <pios_com_priv.h>
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#include <pios_i2c_priv.h>
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#include <openpilot.h>
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#include <uavobjectsinit.h>
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/**
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* PIOS_Board_Init()
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* initializes all the core subsystems on this specific hardware
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* called from System/openpilot.c
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*/
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void PIOS_Board_Init(void) {
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/* Delay system */
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PIOS_DELAY_Init();
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/* SPI Init */
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PIOS_SPI_Init();
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#if defined(PIOS_INCLUDE_SPEKTRUM)
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/* SPEKTRUM init must come before comms */
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PIOS_SPEKTRUM_Init();
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#endif
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/* Initialize UAVObject libraries */
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EventDispatcherInitialize();
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UAVObjInitialize();
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UAVObjectsInitializeAll();
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/* Initialize the alarms library */
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AlarmsInitialize();
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/* Initialize the task monitor library */
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TaskMonitorInitialize();
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/* Initialize the PiOS library */
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PIOS_COM_Init();
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/* Remap AFIO pin */
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GPIO_PinRemapConfig(GPIO_PartialRemap_TIM3, ENABLE);
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RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
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RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO, ENABLE);
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PIOS_Servo_Init();
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PIOS_ADC_Init();
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PIOS_GPIO_Init();
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#if defined(PIOS_INCLUDE_PWM)
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//PIOS_PWM_Init();
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#endif
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#if defined(PIOS_INCLUDE_PPM)
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//PIOS_PPM_Init();
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#endif
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#if defined(PIOS_INCLUDE_USB_HID)
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PIOS_USB_HID_Init(0);
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#endif
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PIOS_I2C_Init();
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PIOS_IAP_Init();
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PIOS_WDG_Init();
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}
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/* Flash/Accel Interface
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*
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* NOTE: Leave this declared as const data so that it ends up in the
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* .rodata section (ie. Flash) rather than in the .bss section (RAM).
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*/
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void PIOS_SPI_ahrs_irq_handler(void);
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void DMA1_Channel4_IRQHandler() __attribute__ ((alias ("PIOS_SPI_ahrs_irq_handler")));
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void DMA1_Channel5_IRQHandler() __attribute__ ((alias ("PIOS_SPI_ahrs_irq_handler")));
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const struct pios_spi_cfg pios_spi_flash_accel_cfg = {
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.regs = SPI2,
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.init = {
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.SPI_Mode = SPI_Mode_Master,
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.SPI_Direction = SPI_Direction_2Lines_FullDuplex,
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.SPI_DataSize = SPI_DataSize_8b,
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.SPI_NSS = SPI_NSS_Soft,
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.SPI_FirstBit = SPI_FirstBit_MSB,
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.SPI_CRCPolynomial = 7,
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.SPI_CPOL = SPI_CPOL_High,
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.SPI_CPHA = SPI_CPHA_2Edge,
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.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_256,
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},
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.use_crc = FALSE,
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.dma = {
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.ahb_clk = RCC_AHBPeriph_DMA1,
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.irq = {
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.handler = PIOS_SPI_ahrs_irq_handler,
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.flags = (DMA1_FLAG_TC4 | DMA1_FLAG_TE4 | DMA1_FLAG_HT4 | DMA1_FLAG_GL4),
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.init = {
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.NVIC_IRQChannel = DMA1_Channel4_IRQn,
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.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
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.NVIC_IRQChannelSubPriority = 0,
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.NVIC_IRQChannelCmd = ENABLE,
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},
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},
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.rx = {
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.channel = DMA1_Channel4,
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.init = {
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.DMA_PeripheralBaseAddr = (uint32_t)&(SPI2->DR),
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.DMA_DIR = DMA_DIR_PeripheralSRC,
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.DMA_PeripheralInc = DMA_PeripheralInc_Disable,
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.DMA_MemoryInc = DMA_MemoryInc_Enable,
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.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
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.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte,
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.DMA_Mode = DMA_Mode_Normal,
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.DMA_Priority = DMA_Priority_High,
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.DMA_M2M = DMA_M2M_Disable,
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},
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},
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.tx = {
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.channel = DMA1_Channel5,
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.init = {
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.DMA_PeripheralBaseAddr = (uint32_t)&(SPI2->DR),
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.DMA_DIR = DMA_DIR_PeripheralDST,
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.DMA_PeripheralInc = DMA_PeripheralInc_Disable,
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.DMA_MemoryInc = DMA_MemoryInc_Enable,
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.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
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.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte,
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.DMA_Mode = DMA_Mode_Normal,
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.DMA_Priority = DMA_Priority_High,
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.DMA_M2M = DMA_M2M_Disable,
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},
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},
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},
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.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_10MHz,
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.GPIO_Mode = GPIO_Mode_Out_PP,
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},
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},
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.sclk = {
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.gpio = GPIOB,
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.init = {
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.GPIO_Pin = GPIO_Pin_13,
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.GPIO_Speed = GPIO_Speed_10MHz,
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.GPIO_Mode = GPIO_Mode_AF_PP,
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},
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},
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.miso = {
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.gpio = GPIOB,
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.init = {
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.GPIO_Pin = GPIO_Pin_14,
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.GPIO_Speed = GPIO_Speed_10MHz,
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.GPIO_Mode = GPIO_Mode_IN_FLOATING,
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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_10MHz,
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.GPIO_Mode = GPIO_Mode_AF_PP,
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},
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},
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};
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/*
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* Board specific number of devices.
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*/
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struct pios_spi_dev pios_spi_devs[] = {
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{
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.cfg = &pios_spi_flash_accel_cfg,
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},
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};
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uint8_t pios_spi_num_devices = NELEMENTS(pios_spi_devs);
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void PIOS_SPI_ahrs_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_OPAHRS_SPI);
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}
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/*
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* ADC system
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*/
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#include "pios_adc_priv.h"
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extern void PIOS_ADC_handler(void);
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void DMA1_Channel1_IRQHandler() __attribute__ ((alias("PIOS_ADC_handler")));
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// Remap the ADC DMA handler to this one
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const struct pios_adc_cfg pios_adc_cfg = {
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.dma = {
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.ahb_clk = RCC_AHBPeriph_DMA1,
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.irq = {
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.handler = PIOS_ADC_DMA_Handler,
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.flags = (DMA1_FLAG_TC1 | DMA1_FLAG_TE1 | DMA1_FLAG_HT1 | DMA1_FLAG_GL1),
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.init = {
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.NVIC_IRQChannel = DMA1_Channel1_IRQn,
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.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
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.NVIC_IRQChannelSubPriority = 0,
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.NVIC_IRQChannelCmd = ENABLE,
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},
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},
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.rx = {
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.channel = DMA1_Channel1,
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.init = {
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.DMA_PeripheralBaseAddr = (uint32_t) & ADC1->DR,
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.DMA_DIR = DMA_DIR_PeripheralSRC,
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.DMA_PeripheralInc = DMA_PeripheralInc_Disable,
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.DMA_MemoryInc = DMA_MemoryInc_Enable,
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.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Word,
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.DMA_MemoryDataSize = DMA_MemoryDataSize_Word,
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.DMA_Mode = DMA_Mode_Circular,
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.DMA_Priority = DMA_Priority_High,
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.DMA_M2M = DMA_M2M_Disable,
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},
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}
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},
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.half_flag = DMA1_IT_HT1,
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.full_flag = DMA1_IT_TC1,
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};
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struct pios_adc_dev pios_adc_devs[] = {
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{
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.cfg = &pios_adc_cfg,
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.callback_function = NULL,
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},
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};
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uint8_t pios_adc_num_devices = NELEMENTS(pios_adc_devs);
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void PIOS_ADC_handler() {
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PIOS_ADC_DMA_Handler();
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}
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/*
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* Telemetry USART
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*/
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void PIOS_USART_telem_irq_handler(void);
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void USART2_IRQHandler() __attribute__ ((alias ("PIOS_USART_telem_irq_handler")));
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const struct pios_usart_cfg pios_usart_telem_cfg = {
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.regs = USART2,
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.init = {
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#if defined (PIOS_COM_TELEM_BAUDRATE)
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.USART_BaudRate = PIOS_COM_TELEM_BAUDRATE,
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#else
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.USART_BaudRate = 57600,
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#endif
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.USART_WordLength = USART_WordLength_8b,
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.USART_Parity = USART_Parity_No,
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.USART_StopBits = USART_StopBits_1,
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.USART_HardwareFlowControl = USART_HardwareFlowControl_None,
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.USART_Mode = USART_Mode_Rx | USART_Mode_Tx,
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},
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.irq = {
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.handler = PIOS_USART_telem_irq_handler,
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.init = {
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.NVIC_IRQChannel = USART2_IRQn,
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.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
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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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.gpio = GPIOA,
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.init = {
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.GPIO_Pin = GPIO_Pin_3,
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.GPIO_Speed = GPIO_Speed_2MHz,
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.GPIO_Mode = GPIO_Mode_IPU,
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},
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},
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.tx = {
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.gpio = GPIOA,
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.init = {
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.GPIO_Pin = GPIO_Pin_2,
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.GPIO_Speed = GPIO_Speed_2MHz,
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.GPIO_Mode = GPIO_Mode_AF_PP,
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},
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},
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};
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/*
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* GPS USART
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*/
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void PIOS_USART_gps_irq_handler(void);
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void USART3_IRQHandler() __attribute__ ((alias ("PIOS_USART_gps_irq_handler")));
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const struct pios_usart_cfg pios_usart_gps_cfg = {
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.regs = USART3,
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.remap = GPIO_PartialRemap_USART3,
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.init = {
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#if defined (PIOS_COM_GPS_BAUDRATE)
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.USART_BaudRate = PIOS_COM_GPS_BAUDRATE,
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#else
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.USART_BaudRate = 57600,
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#endif
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.USART_WordLength = USART_WordLength_8b,
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.USART_Parity = USART_Parity_No,
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.USART_StopBits = USART_StopBits_1,
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.USART_HardwareFlowControl = USART_HardwareFlowControl_None,
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.USART_Mode = USART_Mode_Rx | USART_Mode_Tx,
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},
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.irq = {
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.handler = PIOS_USART_gps_irq_handler,
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.init = {
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.NVIC_IRQChannel = USART3_IRQn,
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.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
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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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.gpio = GPIOC,
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.init = {
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.GPIO_Pin = GPIO_Pin_11,
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.GPIO_Speed = GPIO_Speed_2MHz,
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.GPIO_Mode = GPIO_Mode_IPU,
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},
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},
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.tx = {
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.gpio = GPIOC,
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.init = {
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.GPIO_Pin = GPIO_Pin_10,
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.GPIO_Speed = GPIO_Speed_2MHz,
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.GPIO_Mode = GPIO_Mode_AF_PP,
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},
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},
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};
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#ifdef PIOS_COM_AUX
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/*
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* AUX USART
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*/
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void PIOS_USART_aux_irq_handler(void);
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void USART1_IRQHandler() __attribute__ ((alias ("PIOS_USART_aux_irq_handler")));
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const struct pios_usart_cfg pios_usart_aux_cfg = {
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.regs = USART1,
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.init = {
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#if defined (PIOS_COM_AUX_BAUDRATE)
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.USART_BaudRate = PIOS_COM_AUX_BAUDRATE,
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#else
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.USART_BaudRate = 57600,
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#endif
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.USART_BaudRate = 57600,
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.USART_WordLength = USART_WordLength_8b,
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.USART_Parity = USART_Parity_No,
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.USART_StopBits = USART_StopBits_1,
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.USART_HardwareFlowControl = USART_HardwareFlowControl_None,
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.USART_Mode = USART_Mode_Rx | USART_Mode_Tx,
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},
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.irq = {
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.handler = PIOS_USART_aux_irq_handler,
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.init = {
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.NVIC_IRQChannel = USART1_IRQn,
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.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
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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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.remap = GPIO_Remap_USART1,
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.rx = {
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.gpio = GPIOB,
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.init = {
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.GPIO_Pin = GPIO_Pin_7,
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.GPIO_Speed = GPIO_Speed_2MHz,
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.GPIO_Mode = GPIO_Mode_IPU,
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},
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},
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.tx = {
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.gpio = GPIOB,
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.init = {
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.GPIO_Pin = GPIO_Pin_6,
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.GPIO_Speed = GPIO_Speed_2MHz,
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.GPIO_Mode = GPIO_Mode_AF_PP,
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},
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},
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};
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#endif
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#ifdef PIOS_COM_SPEKTRUM
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/*
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* SPEKTRUM USART
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*/
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void PIOS_USART_spektrum_irq_handler(void);
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void USART1_IRQHandler() __attribute__ ((alias ("PIOS_USART_spektrum_irq_handler")));
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const struct pios_usart_cfg pios_usart_spektrum_cfg = {
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.regs = USART1,
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.init = {
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#if defined (PIOS_COM_SPEKTRUM_BAUDRATE)
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.USART_BaudRate = PIOS_COM_SPEKTRUM_BAUDRATE,
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#else
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.USART_BaudRate = 115200,
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#endif
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.USART_WordLength = USART_WordLength_8b,
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.USART_Parity = USART_Parity_No,
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.USART_StopBits = USART_StopBits_1,
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.USART_HardwareFlowControl = USART_HardwareFlowControl_None,
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.USART_Mode = USART_Mode_Rx,
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},
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.irq = {
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.handler = PIOS_USART_spektrum_irq_handler,
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.init = {
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.NVIC_IRQChannel = USART1_IRQn,
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.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
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.NVIC_IRQChannelSubPriority = 0,
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.NVIC_IRQChannelCmd = ENABLE,
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},
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},
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.rx = {
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.gpio = GPIOA,
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.init = {
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.GPIO_Pin = GPIO_Pin_10,
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.GPIO_Speed = GPIO_Speed_2MHz,
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.GPIO_Mode = GPIO_Mode_IPU,
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},
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},
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.tx = {
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.gpio = GPIOA,
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.init = {
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.GPIO_Pin = GPIO_Pin_9,
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.GPIO_Speed = GPIO_Speed_2MHz,
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.GPIO_Mode = GPIO_Mode_IN_FLOATING,
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},
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},
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};
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#endif
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/*
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* Board specific number of devices.
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*/
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struct pios_usart_dev pios_usart_devs[] = {
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#define PIOS_USART_TELEM 0
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{
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.cfg = &pios_usart_telem_cfg,
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},
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#define PIOS_USART_GPS 1
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{
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.cfg = &pios_usart_gps_cfg,
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},
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#ifdef PIOS_COM_AUX
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#define PIOS_USART_AUX 2
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{
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.cfg = &pios_usart_aux_cfg,
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},
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#endif
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#ifdef PIOS_COM_SPEKTRUM
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#define PIOS_USART_AUX 2
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{
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.cfg = &pios_usart_spektrum_cfg,
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},
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#endif
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};
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uint8_t pios_usart_num_devices = NELEMENTS(pios_usart_devs);
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void PIOS_USART_telem_irq_handler(void)
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{
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PIOS_USART_IRQ_Handler(PIOS_USART_TELEM);
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}
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void PIOS_USART_gps_irq_handler(void)
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{
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PIOS_USART_IRQ_Handler(PIOS_USART_GPS);
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}
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#ifdef PIOS_COM_AUX
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void PIOS_USART_aux_irq_handler(void)
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{
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PIOS_USART_IRQ_Handler(PIOS_USART_AUX);
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}
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#endif
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#ifdef PIOS_COM_SPEKTRUM
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void PIOS_USART_spektrum_irq_handler(void)
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{
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SPEKTRUM_IRQHandler();
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}
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#endif
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/*
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* COM devices
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*/
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/*
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* Board specific number of devices.
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*/
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extern const struct pios_com_driver pios_usart_com_driver;
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extern const struct pios_com_driver pios_usb_com_driver;
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struct pios_com_dev pios_com_devs[] = {
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{
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.id = PIOS_USART_TELEM,
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.driver = &pios_usart_com_driver,
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},
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{
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.id = PIOS_USART_GPS,
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.driver = &pios_usart_com_driver,
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},
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#if defined(PIOS_INCLUDE_USB_HID)
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{
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.id = 0,
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.driver = &pios_usb_com_driver,
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},
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#endif
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#ifdef PIOS_COM_AUX
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{
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.id = PIOS_USART_AUX,
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.driver = &pios_usart_com_driver,
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},
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#endif
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#ifdef PIOS_COM_SPEKTRUM
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{
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.id = PIOS_USART_AUX,
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.driver = &pios_usart_com_driver,
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},
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#endif
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};
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const uint8_t pios_com_num_devices = NELEMENTS(pios_com_devs);
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/*
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* Servo outputs
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*/
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#include <pios_servo_priv.h>
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const struct pios_servo_channel pios_servo_channels[] = {
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{
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.timer = TIM4,
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.port = GPIOB,
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.channel = 4,
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.pin = GPIO_Pin_9,
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},
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{
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.timer = TIM4,
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.port = GPIOB,
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.channel = 3,
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.pin = GPIO_Pin_8,
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},
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{
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.timer = TIM4,
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.port = GPIOB,
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.channel = 2,
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.pin = GPIO_Pin_7,
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},
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{
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.timer = TIM1,
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.port = GPIOA,
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.channel = 1,
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.pin = GPIO_Pin_8,
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},
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{ /* needs to remap to alternative function */
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.timer = TIM3,
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.port = GPIOB,
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.channel = 1,
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.pin = GPIO_Pin_4,
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},
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{
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.timer = TIM2,
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.port = GPIOA,
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.channel = 3,
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.pin = GPIO_Pin_2,
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},
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};
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const struct pios_servo_cfg pios_servo_cfg = {
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.tim_base_init = {
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.TIM_Prescaler = (PIOS_MASTER_CLOCK / 1000000) - 1,
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.TIM_ClockDivision = TIM_CKD_DIV1,
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.TIM_CounterMode = TIM_CounterMode_Up,
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.TIM_Period = ((1000000 / PIOS_SERVO_UPDATE_HZ) - 1),
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.TIM_RepetitionCounter = 0x0000,
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},
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.tim_oc_init = {
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.TIM_OCMode = TIM_OCMode_PWM1,
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.TIM_OutputState = TIM_OutputState_Enable,
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.TIM_OutputNState = TIM_OutputNState_Disable,
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.TIM_Pulse = PIOS_SERVOS_INITIAL_POSITION,
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.TIM_OCPolarity = TIM_OCPolarity_High,
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.TIM_OCNPolarity = TIM_OCPolarity_High,
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.TIM_OCIdleState = TIM_OCIdleState_Reset,
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.TIM_OCNIdleState = TIM_OCNIdleState_Reset,
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},
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.gpio_init = {
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.GPIO_Mode = GPIO_Mode_AF_PP,
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.GPIO_Speed = GPIO_Speed_2MHz,
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},
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.channels = pios_servo_channels,
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.num_channels = NELEMENTS(pios_servo_channels),
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};
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/*
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* I2C Adapters
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*/
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void PIOS_I2C_main_adapter_ev_irq_handler(void);
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void PIOS_I2C_main_adapter_er_irq_handler(void);
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void I2C2_EV_IRQHandler() __attribute__ ((alias ("PIOS_I2C_main_adapter_ev_irq_handler")));
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void I2C2_ER_IRQHandler() __attribute__ ((alias ("PIOS_I2C_main_adapter_er_irq_handler")));
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const struct pios_i2c_adapter_cfg pios_i2c_main_adapter_cfg = {
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.regs = I2C2,
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.init = {
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.I2C_Mode = I2C_Mode_I2C,
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.I2C_OwnAddress1 = 0,
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.I2C_Ack = I2C_Ack_Enable,
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.I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit,
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.I2C_DutyCycle = I2C_DutyCycle_2,
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.I2C_ClockSpeed = 400000, /* bits/s */
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},
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.transfer_timeout_ms = 50,
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.scl = {
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.gpio = GPIOB,
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.init = {
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.GPIO_Pin = GPIO_Pin_10,
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.GPIO_Speed = GPIO_Speed_10MHz,
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.GPIO_Mode = GPIO_Mode_AF_OD,
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},
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},
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.sda = {
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.gpio = GPIOB,
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.init = {
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.GPIO_Pin = GPIO_Pin_11,
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.GPIO_Speed = GPIO_Speed_10MHz,
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.GPIO_Mode = GPIO_Mode_AF_OD,
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},
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},
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.event = {
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.handler = PIOS_I2C_main_adapter_ev_irq_handler,
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.flags = 0, /* FIXME: check this */
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.init = {
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.NVIC_IRQChannel = I2C2_EV_IRQn,
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.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST,
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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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.error = {
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.handler = PIOS_I2C_main_adapter_er_irq_handler,
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.flags = 0, /* FIXME: check this */
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.init = {
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.NVIC_IRQChannel = I2C2_ER_IRQn,
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.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST,
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.NVIC_IRQChannelSubPriority = 0,
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.NVIC_IRQChannelCmd = ENABLE,
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},
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},
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};
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|
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/*
|
|
* Board specific number of devices.
|
|
*/
|
|
struct pios_i2c_adapter pios_i2c_adapters[] = {
|
|
{
|
|
.cfg = &pios_i2c_main_adapter_cfg,
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},
|
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};
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|
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uint8_t pios_i2c_num_adapters = NELEMENTS(pios_i2c_adapters);
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|
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void PIOS_I2C_main_adapter_ev_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_I2C_EV_IRQ_Handler(PIOS_I2C_MAIN_ADAPTER);
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}
|
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|
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void PIOS_I2C_main_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_MAIN_ADAPTER);
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}
|
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|
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/**
|
|
* @}
|
|
*/
|