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https://bitbucket.org/librepilot/librepilot.git
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1051d894b9
Squashed commit of the following:
commit 897e3365ab6c762584c34238efd12dc144e72af0
Author: James Cotton <peabody124@gmail.com>
Date: Mon Sep 13 22:15:21 2010 -0500
AHRS: Getting it running nice and quickly.
commit 53d72fb849164730c89873cab81c9e09be0b112b
Author: James Cotton <peabody124@gmail.com>
Date: Mon Sep 13 15:57:46 2010 -0500
AHRS: Make more variables volatile for -Os.
commit 4fa90821b5d3d8c2ea5e67756313a8a63c0eeb8c
Author: James Cotton <peabody124@gmail.com>
Date: Mon Sep 13 15:11:31 2010 -0500
AHRS/Makefile: -O0 not added to allow me to try various space flags that don't break code.
commit 5bd17a304dc28dc271c2f3e8c6cb8ad4a830404f
Author: James Cotton <peabody124@gmail.com>
Date: Mon Sep 13 14:44:05 2010 -0500
AHRS: Make debuggign USART easy to disable
commit 5453f2a7939492769fe9e9cc822e69c107320670
Author: James Cotton <peabody124@gmail.com>
Date: Mon Sep 13 14:38:37 2010 -0500
AHRS: Explicitly expand covariance prediction. Brings computations from 160 to 90. Makes it not fit in AHRS though.
commit b6712da7eece2a464a2073d24b77be22bfa47094
Author: James Cotton <peabody124@gmail.com>
Date: Sun Sep 12 22:59:42 2010 -0500
AHRS: Make it easy to comment out the I2C/Magnetometers.
commit 8c84d0091f3d6f6bedc7a0224a4ed9cb099b022b
Author: James Cotton <peabody124@gmail.com>
Date: Thu Sep 9 00:49:50 2010 -0500
AHRS: Small change to INSGPS analysis tools
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1613 ebee16cc-31ac-478f-84a7-5cbb03baadba
325 lines
8.9 KiB
C
325 lines
8.9 KiB
C
/**
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******************************************************************************
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*
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* @file pios_board.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief Defines board specific static initializers for hardware for the AHRS 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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#if defined(PIOS_INCLUDE_SPI)
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#include <pios_spi_priv.h>
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/* OP Interface
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*
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* NOTE: Leave this declared as const data so that it ends up in the
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* .rodata section (ie. Flash) rather than in the .bss section (RAM).
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*/
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void PIOS_SPI_op_irq_handler(void);
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void DMA1_Channel5_IRQHandler() __attribute__ ((alias ("PIOS_SPI_op_irq_handler")));
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void DMA1_Channel4_IRQHandler() __attribute__ ((alias ("PIOS_SPI_op_irq_handler")));
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static const struct pios_spi_cfg pios_spi_op_cfg = {
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.regs = SPI2,
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.init = {
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.SPI_Mode = SPI_Mode_Slave,
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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_Hard,
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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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},
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.use_crc = TRUE,
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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_op_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_Medium,
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.DMA_M2M = DMA_M2M_Disable,
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},
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},
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.tx = {
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.channel = DMA1_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_Medium,
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.DMA_M2M = DMA_M2M_Disable,
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},
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},
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},
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.ssel = {
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.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_IN_FLOATING,
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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_50MHz,
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.GPIO_Mode = GPIO_Mode_IN_FLOATING,
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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_PP,
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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_IN_FLOATING,
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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_op_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_op_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_OP);
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}
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#endif /* PIOS_INCLUDE_SPI */
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#if defined(PIOS_INCLUDE_USART)
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#include <pios_usart_priv.h>
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/*
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* AUX USART
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*/
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void PIOS_USART_aux_irq_handler(void);
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void USART3_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 = USART3,
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.init = {
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.USART_BaudRate = 230400,
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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 = USART3_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 = GPIOB,
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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 = GPIOB,
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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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/*
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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_AUX 0
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{
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.cfg = &pios_usart_aux_cfg,
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},
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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_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 /* PIOS_INCLUDE_USART */
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#if defined(PIOS_INCLUDE_COM)
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#include <pios_com_priv.h>
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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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struct pios_com_dev pios_com_devs[] = {
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#if defined(PIOS_INCLUDE_USART)
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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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#endif /* PIOS_INCLUDE_COM */
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#if defined(PIOS_INCLUDE_I2C)
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#include <pios_i2c_priv.h>
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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 I2C1_EV_IRQHandler() __attribute__ ((alias ("PIOS_I2C_main_adapter_ev_irq_handler")));
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void I2C1_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 = I2C1,
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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 = 200000, /* 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_6,
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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_7,
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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 = I2C1_EV_IRQn,
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//.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST,
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.NVIC_IRQChannelPreemptionPriority = 2,
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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 = I2C1_ER_IRQn,
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//.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST,
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.NVIC_IRQChannelPreemptionPriority = 2,
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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.
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*/
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struct pios_i2c_adapter pios_i2c_adapters[] = {
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{
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.cfg = &pios_i2c_main_adapter_cfg,
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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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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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void PIOS_I2C_main_adapter_er_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_ER_IRQ_Handler(PIOS_I2C_MAIN_ADAPTER);
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}
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#endif /* PIOS_INCLUDE_I2C */
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