flight/targets/boards/tinyfish/board_hw_defs.c

   1 /**
   2  ******************************************************************************
   3  * @file       board_hw_defs.c
   4  * @author     The LibrePilot Project, http://www.librepilot.org Copyright (C) 2017.
   5  *             The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
   6  *             PhoenixPilot, http://github.com/PhoenixPilot, Copyright (C) 2012
   7  *
   8  * @brief Defines board specific static initializers for hardware for the tinyFISH board.
   9  *****************************************************************************/
  10 /*
  11  * This program is free software; you can redistribute it and/or modify
  12  * it under the terms of the GNU General Public License as published by
  13  * the Free Software Foundation; either version 3 of the License, or
  14  * (at your option) any later version.
  15  *
  16  * This program is distributed in the hope that it will be useful, but
  17  * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
  18  * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
  19  * for more details.
  20  *
  21  * You should have received a copy of the GNU General Public License along
  22  * with this program; if not, write to the Free Software Foundation, Inc.,
  23  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  24  */
  25
  26 #if defined(PIOS_INCLUDE_LED)
  27
  28 #include <pios_led_priv.h>
  29 static const struct pios_gpio pios_leds[] = {
  30     [PIOS_LED_HEARTBEAT] = {
  31         .pin                =             {
  32             .gpio = GPIOC,
  33             .init =             {
  34                 .GPIO_Pin   = GPIO_Pin_14,
  35                 .GPIO_Mode  = GPIO_Mode_OUT,
  36                 .GPIO_OType = GPIO_OType_PP,
  37                 .GPIO_Speed = GPIO_Speed_50MHz,
  38                 .GPIO_PuPd  = GPIO_PuPd_NOPULL,
  39             },
  40         },
  41         .active_low         = false
  42     },
  43     [PIOS_LED_ALARM] =     { /* or PC15 ?? */
  44         .pin                =             {
  45             .gpio = GPIOA,
  46             .init =             {
  47                 .GPIO_Pin   = GPIO_Pin_13,
  48                 .GPIO_Mode  = GPIO_Mode_OUT,
  49                 .GPIO_OType = GPIO_OType_PP,
  50                 .GPIO_Speed = GPIO_Speed_50MHz,
  51                 .GPIO_PuPd  = GPIO_PuPd_NOPULL,
  52             },
  53         },
  54         .active_low         = false
  55     },
  56     [PIOS_BUZZER_ALARM] =  { /* (or PB2 ??) */
  57         .pin                =             {
  58             .gpio = GPIOC,
  59             .init =             {
  60                 .GPIO_Pin   = GPIO_Pin_15,
  61                 .GPIO_Mode  = GPIO_Mode_OUT,
  62                 .GPIO_OType = GPIO_OType_PP,
  63                 .GPIO_Speed = GPIO_Speed_50MHz,
  64                 .GPIO_PuPd  = GPIO_PuPd_NOPULL,
  65             },
  66         },
  67         .active_low         = false
  68     },
  69 };
  70
  71 static const struct pios_gpio_cfg pios_led_cfg = {
  72     .gpios     = pios_leds,
  73     .num_gpios = NELEMENTS(pios_leds),
  74 };
  75
  76 const struct pios_gpio_cfg *PIOS_BOARD_HW_DEFS_GetLedCfg(__attribute__((unused)) uint32_t board_revision)
  77 {
  78     return &pios_led_cfg;
  79 }
  80
  81 #endif /* PIOS_INCLUDE_LED */
  82
  83 #if defined(PIOS_INCLUDE_SPI)
  84
  85 #include <pios_spi_priv.h>
  86
  87 /* SPI Flash interface */
  88
  89 static const struct pios_spi_cfg pios_spi2_cfg = {
  90     .regs = SPI2,
  91     .init = {
  92         .SPI_Mode              = SPI_Mode_Master,
  93         .SPI_Direction         = SPI_Direction_2Lines_FullDuplex,
  94         .SPI_DataSize          = SPI_DataSize_8b,
  95         .SPI_NSS               = SPI_NSS_Soft,
  96         .SPI_FirstBit          = SPI_FirstBit_MSB,
  97         .SPI_CRCPolynomial     = 7,
  98         .SPI_CPOL              = SPI_CPOL_High,
  99         .SPI_CPHA              = SPI_CPHA_2Edge,
 100         .SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_16,       /* 10 Mhz */
 101     },
 102     .use_crc = false,
 103     .remap   = GPIO_AF_5,
 104     .sclk    = {
 105         .gpio = GPIOB,
 106         .init = {
 107             .GPIO_Pin   = GPIO_Pin_13,
 108             .GPIO_Speed = GPIO_Speed_50MHz,
 109             .GPIO_Mode  = GPIO_Mode_AF,
 110             .GPIO_OType = GPIO_OType_PP,
 111             .GPIO_PuPd  = GPIO_PuPd_NOPULL,
 112         },
 113     },
 114     .miso                      = {
 115         .gpio = GPIOB,
 116         .init = {
 117             .GPIO_Pin   = GPIO_Pin_14,
 118             .GPIO_Speed = GPIO_Speed_50MHz,
 119             .GPIO_Mode  = GPIO_Mode_AF,
 120             .GPIO_OType = GPIO_OType_PP,
 121             .GPIO_PuPd  = GPIO_PuPd_NOPULL,
 122         },
 123     },
 124     .mosi                      = {
 125         .gpio = GPIOB,
 126         .init = {
 127             .GPIO_Pin   = GPIO_Pin_15,
 128             .GPIO_Speed = GPIO_Speed_50MHz,
 129             .GPIO_Mode  = GPIO_Mode_AF,
 130             .GPIO_OType = GPIO_OType_PP,
 131             .GPIO_PuPd  = GPIO_PuPd_NOPULL,
 132         },
 133     },
 134     .slave_count               = 1,
 135     .ssel                      = {
 136         {
 137             .gpio = GPIOB,
 138             .init = {
 139                 .GPIO_Pin   = GPIO_Pin_12,
 140                 .GPIO_Speed = GPIO_Speed_50MHz,
 141                 .GPIO_Mode  = GPIO_Mode_OUT,
 142                 .GPIO_OType = GPIO_OType_PP,
 143                 .GPIO_PuPd  = GPIO_PuPd_UP
 144             },
 145         }
 146     },
 147 };
 148
 149 uint32_t pios_spi2_id;
 150
 151 static const struct pios_spi_cfg pios_spi1_cfg = {
 152     .regs = SPI1,
 153     .init = {
 154         .SPI_Mode              = SPI_Mode_Master,
 155         .SPI_Direction         = SPI_Direction_2Lines_FullDuplex,
 156         .SPI_DataSize          = SPI_DataSize_8b,
 157         .SPI_NSS               = SPI_NSS_Soft,
 158         .SPI_FirstBit          = SPI_FirstBit_MSB,
 159         .SPI_CRCPolynomial     = 7,
 160         .SPI_CPOL              = SPI_CPOL_High,
 161         .SPI_CPHA              = SPI_CPHA_2Edge,
 162         .SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_16,       /* 10 Mhz */
 163     },
 164     .use_crc = false,
 165     .remap   = GPIO_AF_5,
 166     .sclk    = {
 167         .gpio = GPIOA,
 168         .init = {
 169             .GPIO_Pin   = GPIO_Pin_5,
 170             .GPIO_Speed = GPIO_Speed_50MHz,
 171             .GPIO_Mode  = GPIO_Mode_AF,
 172             .GPIO_OType = GPIO_OType_PP,
 173             .GPIO_PuPd  = GPIO_PuPd_NOPULL,
 174         },
 175     },
 176     .miso                      = {
 177         .gpio = GPIOA,
 178         .init = {
 179             .GPIO_Pin   = GPIO_Pin_6,
 180             .GPIO_Speed = GPIO_Speed_50MHz,
 181             .GPIO_Mode  = GPIO_Mode_AF,
 182             .GPIO_OType = GPIO_OType_PP,
 183             .GPIO_PuPd  = GPIO_PuPd_NOPULL,
 184         },
 185     },
 186     .mosi                      = {
 187         .gpio = GPIOA,
 188         .init = {
 189             .GPIO_Pin   = GPIO_Pin_7,
 190             .GPIO_Speed = GPIO_Speed_50MHz,
 191             .GPIO_Mode  = GPIO_Mode_AF,
 192             .GPIO_OType = GPIO_OType_PP,
 193             .GPIO_PuPd  = GPIO_PuPd_NOPULL,
 194         },
 195     },
 196     .slave_count               = 1,
 197     .ssel                      = {
 198         { /* MPU6000 */
 199             .gpio = GPIOA,
 200             .init = {
 201                 .GPIO_Pin   = GPIO_Pin_4,
 202                 .GPIO_Speed = GPIO_Speed_50MHz,
 203                 .GPIO_Mode  = GPIO_Mode_OUT,
 204                 .GPIO_OType = GPIO_OType_PP,
 205                 .GPIO_PuPd  = GPIO_PuPd_UP
 206             },
 207         }
 208     },
 209 };
 210
 211 uint32_t pios_spi1_id;
 212
 213 #endif /* PIOS_INCLUDE_SPI */
 214
 215 #if defined(PIOS_INCLUDE_FLASH)
 216 #include "pios_flashfs_logfs_priv.h"
 217 #include "pios_flash_jedec_priv.h"
 218 #include "pios_flash_internal_priv.h"
 219
 220 static const struct pios_flash_internal_cfg flash_internal_system_cfg = {};
 221
 222 static const struct flashfs_logfs_cfg flashfs_internal_cfg = {
 223     .fs_magic      = 0x99abcfef,
 224     .total_fs_size = EE_BANK_SIZE, /* 32K bytes (16x2KB sectors) */
 225     .arena_size    = 0x00004000, /* 64 * slot size = 16K bytes = 8 sectors */
 226     .slot_size     = 0x00000100, /* 256 bytes */
 227
 228     .start_offset  = EE_BANK_BASE, /* start after the bootloader */
 229     .sector_size   = 0x00000800, /* 2K bytes */
 230     .page_size     = 0x00000800, /* 2K bytes */
 231 };
 232
 233 #endif /* PIOS_INCLUDE_FLASH */
 234
 235 #include "pios_tim_priv.h"
 236
 237 static const TIM_TimeBaseInitTypeDef tim_time_base = {
 238     .TIM_Prescaler         = (PIOS_MASTER_CLOCK / 1000000) - 1,
 239     .TIM_ClockDivision     = TIM_CKD_DIV1,
 240     .TIM_CounterMode       = TIM_CounterMode_Up,
 241     .TIM_Period            = ((1000000 / PIOS_SERVO_UPDATE_HZ) - 1),
 242     .TIM_RepetitionCounter = 0x0000,
 243 };
 244
 245 static const struct pios_tim_clock_cfg tim_1_cfg = {
 246     .timer = TIM1,
 247     .time_base_init                            = &tim_time_base,
 248     .irq   = {
 249         .init                                  = {
 250             .NVIC_IRQChannel    = TIM1_CC_IRQn,
 251             .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
 252             .NVIC_IRQChannelSubPriority        = 0,
 253             .NVIC_IRQChannelCmd = ENABLE,
 254         },
 255     },
 256 };
 257
 258 static const struct pios_tim_clock_cfg tim_2_cfg = {
 259     .timer = TIM2,
 260     .time_base_init                            = &tim_time_base,
 261     .irq   = {
 262         .init                                  = {
 263             .NVIC_IRQChannel    = TIM2_IRQn,
 264             .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
 265             .NVIC_IRQChannelSubPriority        = 0,
 266             .NVIC_IRQChannelCmd = ENABLE,
 267         },
 268     },
 269 };
 270
 271 static const struct pios_tim_clock_cfg tim_3_cfg = {
 272     .timer = TIM3,
 273     .time_base_init                            = &tim_time_base,
 274     .irq   = {
 275         .init                                  = {
 276             .NVIC_IRQChannel    = TIM3_IRQn,
 277             .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
 278             .NVIC_IRQChannelSubPriority        = 0,
 279             .NVIC_IRQChannelCmd = ENABLE,
 280         },
 281     },
 282 };
 283
 284 static const struct pios_tim_clock_cfg tim_4_cfg = {
 285     .timer = TIM4,
 286     .time_base_init                            = &tim_time_base,
 287     .irq   = {
 288         .init                                  = {
 289             .NVIC_IRQChannel    = TIM4_IRQn,
 290             .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
 291             .NVIC_IRQChannelSubPriority        = 0,
 292             .NVIC_IRQChannelCmd = ENABLE,
 293         },
 294     },
 295 };
 296
 297 static const struct pios_tim_clock_cfg tim_8_cfg = {
 298     .timer = TIM8,
 299     .time_base_init                            = &tim_time_base,
 300     .irq   = {
 301         .init                                  = {
 302             .NVIC_IRQChannel    = TIM8_CC_IRQn,
 303             .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
 304             .NVIC_IRQChannelSubPriority        = 0,
 305             .NVIC_IRQChannelCmd = ENABLE,
 306         },
 307     },
 308 };
 309
 310 static const struct pios_tim_clock_cfg tim_15_cfg = {
 311     .timer = TIM4,
 312     .time_base_init                            = &tim_time_base,
 313     .irq   = {
 314         .init                                  = {
 315             .NVIC_IRQChannel    = TIM1_BRK_TIM15_IRQn,
 316             .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
 317             .NVIC_IRQChannelSubPriority        = 0,
 318             .NVIC_IRQChannelCmd = ENABLE,
 319         },
 320     },
 321 };
 322
 323 static const struct pios_tim_clock_cfg tim_16_cfg = {
 324     .timer = TIM4,
 325     .time_base_init                            = &tim_time_base,
 326     .irq   = {
 327         .init                                  = {
 328             .NVIC_IRQChannel    = TIM1_UP_TIM16_IRQn,
 329             .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
 330             .NVIC_IRQChannelSubPriority        = 0,
 331             .NVIC_IRQChannelCmd = ENABLE,
 332         },
 333     },
 334 };
 335
 336 static const struct pios_tim_clock_cfg tim_17_cfg = {
 337     .timer = TIM4,
 338     .time_base_init                            = &tim_time_base,
 339     .irq   = {
 340         .init                                  = {
 341             .NVIC_IRQChannel    = TIM1_TRG_COM_TIM17_IRQn,
 342             .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
 343             .NVIC_IRQChannelSubPriority        = 0,
 344             .NVIC_IRQChannelCmd = ENABLE,
 345         },
 346     },
 347 };
 348
 349 #include <pios_servo_config.h>
 350
 351 #define GPIO_AF_PA1_TIM2       GPIO_AF_1
 352 #define GPIO_AF_PA0_TIM2       GPIO_AF_1
 353 #define GPIO_AF_PA8_TIM1       GPIO_AF_6
 354 #define GPIO_AF_PA2_TIM2       GPIO_AF_1
 355 #define GPIO_AF_PB6_TIM4       GPIO_AF_2
 356 #define GPIO_AF_PB5_TIM3       GPIO_AF_2
 357 #define GPIO_AF_PB0_TIM3       GPIO_AF_2
 358 #define GPIO_AF_PB1_TIM3       GPIO_AF_2
 359 #define GPIO_AF_PB9_TIM4       GPIO_AF_2
 360 #define GPIO_AF_PB8_TIM4       GPIO_AF_2
 361 #define GPIO_AF_PB7_TIM4       GPIO_AF_2
 362 #define GPIO_AF_PB4_TIM3       GPIO_AF_2
 363 #define GPIO_AF_PB11_TIM2      GPIO_AF_1
 364 #define GPIO_AF_PA15_TIM8      GPIO_AF_2
 365 #define GPIO_AF_PA3_TIM15      GPIO_AF_9
 366 #define GPIO_AF_PA6_TIM3       GPIO_AF_2
 367 #define GPIO_AF_PA7_TIM3       GPIO_AF_2
 368 #define GPIO_AF_PA10_TIM2      GPIO_AF_10
 369
 370 #define GPIO_AF_PA4_TIM3       GPIO_AF_2
 371 #define GPIO_AF_PA7_TIM17      GPIO_AF_1
 372 #define GPIO_AF_PB8_TIM16      GPIO_AF_1
 373
 374 #define GPIO_AF_PB9_TIM8       GPIO_AF_10
 375 #define GPIO_AF_PA2_TIM15      GPIO_AF_9
 376 #define GPIO_AF_PB10_TIM2      GPIO_AF_1
 377
 378 #define TIM1_CH1_DMA_INSTANCE  1
 379 #define TIM1_CH1_DMA_CHANNEL   2
 380
 381 #define TIM16_CH1_DMA_INSTANCE 2
 382 #define TIM16_CH1_DMA_CHANNEL  3
 383
 384 static const struct pios_tim_channel pios_tim_servoport_pins[] = {
 385     TIM_SERVO_CHANNEL_CONFIG(TIM4,  3, B, 8), // bank 1
 386     TIM_SERVO_CHANNEL_CONFIG(TIM8,  3, B, 9), // bank 2
 387     TIM_SERVO_CHANNEL_CONFIG(TIM15, 2, A, 3), // bank 3
 388     TIM_SERVO_CHANNEL_CONFIG(TIM15, 1, A, 2), // bank 3
 389
 390     // following two are here so we can have two additional PWM outputs instead of UART3
 391     TIM_SERVO_CHANNEL_CONFIG(TIM2,  4, B, 11), // bank 4 (UART3 RX)
 392     TIM_SERVO_CHANNEL_CONFIG(TIM2,  3, B, 10), // bank 4 (UART3 TX)
 393 };
 394
 395 #if defined(PIOS_INCLUDE_USART)
 396
 397 #define GPIO_AF_USART1 GPIO_AF_7
 398 #define GPIO_AF_USART2 GPIO_AF_7
 399 #define GPIO_AF_USART3 GPIO_AF_7
 400
 401
 402 #include "pios_usart_priv.h"
 403 #include "pios_usart_config.h"
 404
 405 static const struct pios_usart_cfg pios_usart_cfg[] = {
 406     USART_CONFIG(USART1, B, 7,  B, 6), /* RX_DEBUG, TX_??? */
 407     USART_CONFIG(USART2, A, 15, A, 14), /* RX_SBUS, TX_FRSKY_TELEMETRY */
 408     USART_CONFIG(USART3, B, 11, B, 10),
 409 };
 410
 411
 412 #endif /* PIOS_INCLUDE_USART */
 413
 414 #if defined(PIOS_INCLUDE_COM)
 415
 416 #include "pios_com_priv.h"
 417
 418 #endif /* PIOS_INCLUDE_COM */
 419
 420 #if defined(PIOS_INCLUDE_RTC)
 421 /*
 422  * Realtime Clock (RTC)
 423  */
 424 #include <pios_rtc_priv.h>
 425
 426 void PIOS_RTC_IRQ_Handler(void);
 427 void RTC_WKUP_IRQHandler() __attribute__((alias("PIOS_RTC_IRQ_Handler")));
 428 static const struct pios_rtc_cfg pios_rtc_main_cfg = {
 429     .clksrc    = RCC_RTCCLKSource_HSE_Div32,
 430     .prescaler = 25 - 1, // 8Mhz / 32 / 16 / 25 => 625Hz
 431     .irq                                       = {
 432         .init                                  = {
 433             .NVIC_IRQChannel    = RTC_WKUP_IRQn,
 434             .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
 435             .NVIC_IRQChannelSubPriority        = 0,
 436             .NVIC_IRQChannelCmd = ENABLE,
 437         },
 438     },
 439 };
 440
 441 void PIOS_RTC_IRQ_Handler(void)
 442 {
 443     PIOS_RTC_irq_handler();
 444 }
 445
 446 #endif /* if defined(PIOS_INCLUDE_RTC) */
 447
 448 #if defined(PIOS_INCLUDE_SERVO) && defined(PIOS_INCLUDE_TIM)
 449 /*
 450  * Servo outputs
 451  */
 452 #include <pios_servo_priv.h>
 453
 454 const struct pios_servo_cfg pios_servo_cfg = {
 455     .tim_oc_init          = {
 456         .TIM_OCMode       = TIM_OCMode_PWM1,
 457         .TIM_OutputState  = TIM_OutputState_Enable,
 458         .TIM_OutputNState = TIM_OutputNState_Disable,
 459         .TIM_Pulse        = PIOS_SERVOS_INITIAL_POSITION,
 460         .TIM_OCPolarity   = TIM_OCPolarity_High,
 461         .TIM_OCNPolarity  = TIM_OCPolarity_High,
 462         .TIM_OCIdleState  = TIM_OCIdleState_Reset,
 463         .TIM_OCNIdleState = TIM_OCNIdleState_Reset,
 464     },
 465     .channels     = pios_tim_servoport_pins,
 466     .num_channels = NELEMENTS(pios_tim_servoport_pins) - 2,
 467 };
 468
 469 const struct pios_servo_cfg pios_servo_uart3_cfg = {
 470     .tim_oc_init          = {
 471         .TIM_OCMode       = TIM_OCMode_PWM1,
 472         .TIM_OutputState  = TIM_OutputState_Enable,
 473         .TIM_OutputNState = TIM_OutputNState_Disable,
 474         .TIM_Pulse        = PIOS_SERVOS_INITIAL_POSITION,
 475         .TIM_OCPolarity   = TIM_OCPolarity_High,
 476         .TIM_OCNPolarity  = TIM_OCPolarity_High,
 477         .TIM_OCIdleState  = TIM_OCIdleState_Reset,
 478         .TIM_OCNIdleState = TIM_OCNIdleState_Reset,
 479     },
 480     .channels     = pios_tim_servoport_pins,
 481     .num_channels = NELEMENTS(pios_tim_servoport_pins),
 482 };
 483
 484
 485 #endif /* PIOS_INCLUDE_SERVO && PIOS_INCLUDE_TIM */
 486
 487 /*
 488  * PPM Inputs
 489  */
 490 #if defined(PIOS_INCLUDE_PPM)
 491 #include <pios_ppm_priv.h>
 492
 493 static const struct pios_tim_channel pios_tim_ppm = TIM_SERVO_CHANNEL_CONFIG(TIM2, 4, B, 11);
 494
 495 const struct pios_ppm_cfg pios_ppm_cfg = {
 496     .tim_ic_init         = {
 497         .TIM_ICPolarity  = TIM_ICPolarity_Rising,
 498         .TIM_ICSelection = TIM_ICSelection_DirectTI,
 499         .TIM_ICPrescaler = TIM_ICPSC_DIV1,
 500         .TIM_ICFilter    = 0x0,
 501     },
 502     .channels     = &pios_tim_ppm,
 503     .num_channels = 1,
 504 };
 505 #endif /* PIOS_INCLUDE_PPM */
 506
 507
 508 #if defined(PIOS_INCLUDE_RCVR)
 509 #include "pios_rcvr_priv.h"
 510
 511 #endif /* PIOS_INCLUDE_RCVR */
 512
 513 #if defined(PIOS_INCLUDE_USB)
 514 #include "pios_usb_priv.h"
 515
 516 static const struct pios_usb_cfg pios_usb_main_cfg = {
 517     .irq                                       = {
 518         .init                                  = {
 519             .NVIC_IRQChannel    = USB_LP_CAN1_RX0_IRQn,
 520             .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW,
 521             .NVIC_IRQChannelSubPriority        = 0,
 522             .NVIC_IRQChannelCmd = ENABLE,
 523         },
 524     },
 525 };
 526
 527 const struct pios_usb_cfg *PIOS_BOARD_HW_DEFS_GetUsbCfg(__attribute__((unused)) uint32_t board_revision)
 528 {
 529     return &pios_usb_main_cfg;
 530 }
 531 #endif /* PIOS_INCLUDE_USB */
 532
 533 #if defined(PIOS_INCLUDE_WS2811)
 534 #include "pios_ws2811_cfg.h"
 535
 536 static const struct pios_ws2811_cfg pios_ws2811_cfg = PIOS_WS2811_CONFIG(TIM1, 1, A, 8);
 537
 538 void DMA1_Channel2_IRQHandler()
 539 {
 540     PIOS_WS2811_DMA_irq_handler();
 541 }
 542
 543 #endif /* PIOS_INCLUDE_WS2811 */
 544
 545 #if defined(PIOS_INCLUDE_ADC)
 546 #include "pios_adc_priv.h"
 547 void PIOS_ADC_DMC_irq_handler(void);
 548 void DMA2_Channel5_IRQHandler(void) __attribute__((alias("PIOS_ADC_DMC_irq_handler")));
 549
 550 struct pios_adc_cfg pios_adc_cfg = {
 551     .adc_dev = ADC3,
 552     .dma     = {
 553         .irq                                       = {
 554             .flags = (DMA2_FLAG_TC5 | DMA2_FLAG_TE5 | DMA2_FLAG_HT5),
 555             .init  = {
 556                 .NVIC_IRQChannel    = DMA2_Channel5_IRQn,
 557                 .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW,
 558                 .NVIC_IRQChannelSubPriority        = 0,
 559                 .NVIC_IRQChannelCmd = ENABLE,
 560             },
 561         },
 562         .rx                                        = {
 563             .channel                               = DMA2_Channel5,
 564         }
 565     },
 566     .half_flag = DMA2_FLAG_HT5,
 567     .full_flag = DMA2_FLAG_TC5,
 568 };
 569
 570 void PIOS_ADC_DMC_irq_handler(void)
 571 {
 572     /* Call into the generic code to handle the IRQ for this specific device */
 573     PIOS_ADC_DMA_Handler();
 574 }
 575 const struct pios_adc_cfg *PIOS_BOARD_HW_DEFS_GetAdcCfg(__attribute__((unused)) uint32_t board_revision)
 576 {
 577     return &pios_adc_cfg;
 578 }
 579 #endif /* if defined(PIOS_INCLUDE_ADC) */
 580
 581 /**
 582  * Configuration for MPU6000 chip
 583  */
 584 #if defined(PIOS_INCLUDE_MPU6000)
 585 #include "pios_mpu6000.h"
 586 static const struct pios_exti_cfg pios_exti_mpu6000_cfg __exti_config = {
 587     .vector = PIOS_MPU6000_IRQHandler,
 588     .line   = EXTI_Line13,
 589     .pin    = {
 590         .gpio = GPIOC,
 591         .init = {
 592             .GPIO_Pin   = GPIO_Pin_13,
 593             .GPIO_Speed = GPIO_Speed_10MHz,
 594             .GPIO_Mode  = GPIO_Mode_IN,
 595             .GPIO_OType = GPIO_OType_OD,
 596             .GPIO_PuPd  = GPIO_PuPd_NOPULL,
 597         },
 598     },
 599     .irq                                       = {
 600         .init                                  = {
 601             .NVIC_IRQChannel    = EXTI15_10_IRQn,
 602             .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
 603             .NVIC_IRQChannelSubPriority        = 0,
 604             .NVIC_IRQChannelCmd = ENABLE,
 605         },
 606     },
 607     .exti                                      = {
 608         .init                                  = {
 609             .EXTI_Line    = EXTI_Line13, // matches above GPIO pin
 610             .EXTI_Mode    = EXTI_Mode_Interrupt,
 611             .EXTI_Trigger = EXTI_Trigger_Rising,
 612             .EXTI_LineCmd = ENABLE,
 613         },
 614     },
 615 };
 616
 617 static const struct pios_mpu6000_cfg pios_mpu6000_cfg = {
 618     .exti_cfg   = &pios_exti_mpu6000_cfg,
 619     .Fifo_store = PIOS_MPU6000_FIFO_TEMP_OUT | PIOS_MPU6000_FIFO_GYRO_X_OUT | PIOS_MPU6000_FIFO_GYRO_Y_OUT | PIOS_MPU6000_FIFO_GYRO_Z_OUT,
 620     // Clock at 8 khz, downsampled by 8 for 1000 Hz
 621     .Smpl_rate_div_no_dlp = 7,
 622     // Clock at 1 khz, downsampled by 1 for 1000 Hz
 623     .Smpl_rate_div_dlp    = 0,
 624     .interrupt_cfg  = PIOS_MPU6000_INT_CLR_ANYRD,
 625     .interrupt_en   = PIOS_MPU6000_INTEN_DATA_RDY,
 626     .User_ctl             = PIOS_MPU6000_USERCTL_DIS_I2C,
 627     .Pwr_mgmt_clk   = PIOS_MPU6000_PWRMGMT_PLL_X_CLK,
 628     .accel_range    = PIOS_MPU6000_ACCEL_8G,
 629     .gyro_range     = PIOS_MPU6000_SCALE_2000_DEG,
 630     .filter               = PIOS_MPU6000_LOWPASS_256_HZ,
 631     .orientation    = PIOS_MPU6000_BOTTOM_90DEG,
 632 #ifdef PIOS_INCLUDE_SPI
 633     .fast_prescaler = PIOS_SPI_PRESCALER_4,
 634     .std_prescaler  = PIOS_SPI_PRESCALER_64,
 635 #endif /* PIOS_INCLUDE_SPI */
 636     .max_downsample = 2
 637 };
 638
 639 const struct pios_mpu6000_cfg *PIOS_BOARD_HW_DEFS_GetMPU6000Cfg(__attribute__((unused)) uint32_t board_revision)
 640 {
 641     return &pios_mpu6000_cfg;
 642 }
 643 #endif /* PIOS_INCLUDE_MPU6000 */