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dbf7574946
This should mark an end to the compile-time selection of HW configurations. Minor changes in board initialization for all platforms: - Most config structs are marked static to prevent badly written drivers from directly referring to config data. - Adapt to changes in .irq fields in config data. - Adapt to changes in USART IRQ handling. Major changes in board initialization for CC: - Use HwSettings UAVObj to decide which drivers to attach to the "main" port and the flexi port, and select the appropriate device configuration data. - HwSettings allows choosing between Disabled, Telemetry, SBUS, Spektrum,GPS, and I2C for each of the two ports. - Use ManualControlSettings.InputMode to init/configure the appropriate receiver module, and register its available rx channels with the PIOS_RCVR layer. Can choose between PWM, Spektrum and PPM at board init time. PPM driver is broken, and SBUS will work once it is added to this UAVObj as an option. - CC build now includes code for SBUS, Spektrum and PWM receivers in every firmware image. PIOS_USART driver: - Now handles its own low-level IRQs internally - If NULL upper-level IRQ handler is bound in at board init time then rx/tx is satisfied by internal PIOS_USART buffered IO routines which are (typically) attached to the COM layer. - If an alternate upper-level IRQ handler is bound in at board init then that handler is called and expected to clear down the USART IRQ sources. This is used by Spektrum and SBUS drivers. PIOS_SBUS and PIOS_SPEKTRUM drivers: - Improved data/API hiding - No longer assume they know where their config data is stored which allows for boot-time alternate configurations for the driver. - Now registers an upper-level IRQ handlerwith the USART layer to decouple the driver from which USART it is actually attached to.
63 lines
1.7 KiB
C
63 lines
1.7 KiB
C
/**
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******************************************************************************
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* @addtogroup PIOS PIOS Core hardware abstraction layer
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* @{
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* @addtogroup PIOS_STM32 STM32 HAL
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* @brief STM32 specific global data structures
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* @{
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*
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* @file pios_stm32.h
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief Types that are specific to the STM32 peripherals
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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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#ifndef PIOS_STM32_H
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#define PIOS_STM32_H
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struct stm32_irq {
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void (*handler) (uint32_t);
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uint32_t flags;
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NVIC_InitTypeDef init;
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};
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struct stm32_dma_chan {
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DMA_Channel_TypeDef *channel;
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DMA_InitTypeDef init;
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};
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struct stm32_dma {
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uint32_t ahb_clk;
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struct stm32_irq irq;
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struct stm32_dma_chan rx;
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struct stm32_dma_chan tx;
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};
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struct stm32_gpio {
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GPIO_TypeDef *gpio;
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GPIO_InitTypeDef init;
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};
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/**
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* @}
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* @}
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*/
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#endif /* PIOS_STM32_H */
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