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302 lines
8.5 KiB
C
302 lines
8.5 KiB
C
/**
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******************************************************************************
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* @addtogroup OpenPilotBL OpenPilot BootLoader
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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 initialisers 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 <openpilot.h>
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//#include <uavobjectsinit.h>
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#if defined(PIOS_INCLUDE_SPI)
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#include <pios_spi_priv.h>
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/* AHRS 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
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pios_spi_ahrs_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_8,
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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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.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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}, .ssel = {
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.gpio = GPIOB,
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.init = {
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.GPIO_Pin = GPIO_Pin_12,
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.GPIO_Speed = GPIO_Speed_50MHz,
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.GPIO_Mode = GPIO_Mode_Out_PP,
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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_AF_PP,
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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_IN_FLOATING,
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},
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}, .mosi = {
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.gpio = GPIOB,
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.init = {
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.GPIO_Pin = GPIO_Pin_15,
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.GPIO_Speed = GPIO_Speed_50MHz,
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.GPIO_Mode = GPIO_Mode_AF_PP,
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},
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}, };
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uint32_t pios_spi_ahrs_id;
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void PIOS_SPI_ahrs_irq_handler(void) {
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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_ahrs_id);
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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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* Telemetry USART
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*/
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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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}, .irq = {
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.init = {
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.NVIC_IRQChannel = USART2_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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}, .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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}, .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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#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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#define PIOS_COM_TELEM_USB_RX_BUF_LEN 192
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#define PIOS_COM_TELEM_USB_TX_BUF_LEN 192
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static uint8_t pios_com_telem_usb_rx_buffer[PIOS_COM_TELEM_USB_RX_BUF_LEN];
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static uint8_t pios_com_telem_usb_tx_buffer[PIOS_COM_TELEM_USB_TX_BUF_LEN];
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#define PIOS_COM_TELEM_RF_RX_BUF_LEN 192
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#define PIOS_COM_TELEM_RF_TX_BUF_LEN 192
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static uint8_t pios_com_telem_rf_rx_buffer[PIOS_COM_TELEM_RF_RX_BUF_LEN];
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static uint8_t pios_com_telem_rf_tx_buffer[PIOS_COM_TELEM_RF_TX_BUF_LEN];
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#endif /* PIOS_INCLUDE_COM */
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#if defined(PIOS_INCLUDE_USB_HID)
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#include "pios_usb_hid_priv.h"
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static const struct pios_usb_cfg pios_usb_main_cfg = {
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.irq = {
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.init = {
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.NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn,
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.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW,
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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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#endif /* PIOS_INCLUDE_USB_HID */
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#if defined(PIOS_INCLUDE_USB_COM)
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#include <pios_usb_com_priv.h>
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const struct pios_usb_com_cfg pios_usb_com_hid_cfg = {
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.type = PIOS_USB_COM_HID,
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.data_if = 0,
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.data_rx_ep = 1,
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.data_tx_ep = 1,
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};
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#endif /* PIOS_INCLUDE_USB_COM */
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uint32_t pios_com_telem_rf_id;
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uint32_t pios_com_telem_usb_hid_id;
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uint32_t pios_com_telem_usb_cdc_id;
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#include "pios_opahrs.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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static bool board_init_complete = false;
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void PIOS_Board_Init(void) {
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if (board_init_complete) {
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return;
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}
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/* Enable Prefetch Buffer */
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FLASH_PrefetchBufferCmd(FLASH_PrefetchBuffer_Enable);
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/* Flash 2 wait state */
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FLASH_SetLatency(FLASH_Latency_2);
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/* Delay system */
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PIOS_DELAY_Init();
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/* Initialize the PiOS library */
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#if defined(PIOS_INCLUDE_COM)
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uint32_t pios_usart_telem_rf_id;
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if (PIOS_USART_Init(&pios_usart_telem_rf_id, &pios_usart_telem_cfg)) {
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PIOS_DEBUG_Assert(0);
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}
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if (PIOS_COM_Init(&pios_com_telem_rf_id, &pios_usart_com_driver,
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pios_usart_telem_rf_id,
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pios_com_telem_rf_rx_buffer, sizeof(pios_com_telem_rf_rx_buffer),
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pios_com_telem_rf_tx_buffer, sizeof(pios_com_telem_rf_tx_buffer))) {
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PIOS_DEBUG_Assert(0);
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}
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#endif /* PIOS_INCLUDE_COM */
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PIOS_GPIO_Init();
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#if defined(PIOS_INCLUDE_USB_HID)
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uint32_t pios_usb_id;
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PIOS_USB_Init(&pios_usb_id, &pios_usb_main_cfg);
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#if defined(PIOS_INCLUDE_COM)
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uint32_t pios_usb_com_id;
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if (PIOS_USB_COM_Init(&pios_usb_com_id, &pios_usb_com_hid_cfg, pios_usb_id)) {
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PIOS_Assert(0);
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}
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if (PIOS_COM_Init(&pios_com_telem_usb_hid_id, &pios_usb_hid_com_driver, pios_usb_com_id,
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pios_com_telem_usb_rx_buffer, sizeof(pios_com_telem_usb_rx_buffer),
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pios_com_telem_usb_tx_buffer, sizeof(pios_com_telem_usb_tx_buffer))) {
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PIOS_Assert(0);
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}
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#endif /* PIOS_INCLUDE_COM */
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#endif /* PIOS_INCLUDE_USB_HID */
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RCC_AHBPeriphClockCmd(RCC_AHBPeriph_CRC, ENABLE);//TODO Tirar
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/* Set up the SPI interface to the AHRS */
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if (PIOS_SPI_Init(&pios_spi_ahrs_id, &pios_spi_ahrs_cfg)) {
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PIOS_DEBUG_Assert(0);
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}
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/* Bind the AHRS comms layer to the AHRS SPI link */
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PIOS_OPAHRS_Attach(pios_spi_ahrs_id);
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board_init_complete = true;
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}
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/**
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* @}
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*/
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