flight/targets/boards/gpsplatinum/board_hw_defs.c

   1 /**
   2  ******************************************************************************
   3  * @file       board_hw_defs.c
   4  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
   5  * @addtogroup OpenPilotSystem OpenPilot System
   6  * @{
   7  * @addtogroup OpenPilotCore OpenPilot Core
   8  * @{
   9  * @brief Defines board specific static initializers for hardware for the GPS board.
  10  *****************************************************************************/
  11 /*
  12  * This program is free software; you can redistribute it and/or modify
  13  * it under the terms of the GNU General Public License as published by
  14  * the Free Software Foundation; either version 3 of the License, or
  15  * (at your option) any later version.
  16  *
  17  * This program is distributed in the hope that it will be useful, but
  18  * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
  19  * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
  20  * for more details.
  21  *
  22  * You should have received a copy of the GNU General Public License along
  23  * with this program; if not, write to the Free Software Foundation, Inc.,
  24  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  25  */
  26
  27 #define BOARD_REVISION_GPSP 1
  28 /*
  29  * GPS Platinum board.
  30  * pins allocation:
  31  * port         |  Pins
  32  * -------------|-------------
  33  * GPS I2C      | PB7 SDA
  34  *              | PB6 SCL
  35  * ---------------------------
  36  * Led HB       | PB4
  37  * ---------------------------
  38  * Mag/Flash SPI| PA4 MAG SS
  39  *              | PA5 SCK
  40  *              | PA6 MISO
  41  *              | PA7 MOSI
  42  *              | PB1 FLASH SS
  43  *              | PB0 Mag Int
  44  *----------------------------
  45  * Main Port    | PA9  TX
  46  *              | PA10 RX
  47  *----------------------------
  48  */
  49 #if defined(PIOS_INCLUDE_LED)
  50
  51 #include <pios_led_priv.h>
  52
  53 static const struct pios_gpio pios_leds_gpsp[] = {
  54     // PB4
  55     [PIOS_LED_HEARTBEAT] = {
  56         .pin                =             {
  57             .gpio = GPIOB,
  58             .init =             {
  59                 .GPIO_Pin   = GPIO_Pin_4,
  60                 .GPIO_Mode  = GPIO_Mode_OUT,
  61                 .GPIO_OType = GPIO_OType_OD,
  62                 .GPIO_Speed = GPIO_Speed_Level_1,
  63             },
  64         },
  65         .active_low         = true
  66     },
  67 };
  68
  69 static const struct pios_gpio_cfg pios_led_cfg_gpsp = {
  70     .gpios     = pios_leds_gpsp,
  71     .num_gpios = NELEMENTS(pios_leds_gpsp),
  72 };
  73
  74 const struct pios_gpio_cfg *PIOS_BOARD_HW_DEFS_GetLedCfg(__attribute__((unused)) uint32_t board_revision)
  75 {
  76     return &pios_led_cfg_gpsp;
  77 }
  78
  79 #endif /* PIOS_INCLUDE_LED */
  80
  81 #if defined(PIOS_INCLUDE_SPI)
  82
  83 #include <pios_spi_priv.h>
  84
  85 void PIOS_SPI_mag_flash_irq_handler(void);
  86 void DMA1_Channel2_3_IRQHandler() __attribute__((alias("PIOS_SPI_mag_flash_irq_handler")));
  87
  88
  89 static uint32_t pios_spi_mag_flash_id;
  90 static const struct pios_spi_cfg pios_spi_mag_flash_cfg = {
  91     .remap = GPIO_AF_0,
  92     .regs  = SPI1,
  93     .init  = {
  94         .SPI_Mode              = SPI_Mode_Master,
  95         .SPI_Direction         = SPI_Direction_2Lines_FullDuplex,
  96         .SPI_DataSize          = SPI_DataSize_8b,
  97         .SPI_NSS                         = SPI_NSS_Soft,
  98         .SPI_FirstBit          = SPI_FirstBit_MSB,
  99         .SPI_CRCPolynomial     = 7,
 100         .SPI_CPOL              = SPI_CPOL_High,
 101         .SPI_CPHA              = SPI_CPHA_2Edge,
 102         .SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_8,
 103     },
 104     .dma                                 = {
 105         .ahb_clk = RCC_AHBPeriph_DMA1,
 106
 107         .irq     = {
 108             .flags = (DMA1_FLAG_TC2 | DMA1_FLAG_TE2 | DMA1_FLAG_HT2 | DMA1_FLAG_GL2),
 109             .init  = {
 110                 .NVIC_IRQChannel    = DMA1_Channel2_3_IRQn,
 111                 .NVIC_IRQChannelPriority = PIOS_IRQ_PRIO_MID,
 112                 .NVIC_IRQChannelCmd = ENABLE,
 113             },
 114         },
 115
 116         .rx                              = {
 117             .channel = DMA1_Channel2,
 118             .init    = {
 119                 .DMA_PeripheralBaseAddr  = (uint32_t)&(SPI1->DR),
 120                 .DMA_DIR                 = DMA_DIR_PeripheralSRC,
 121                 .DMA_PeripheralInc      = DMA_PeripheralInc_Disable,
 122                 .DMA_MemoryInc          = DMA_MemoryInc_Enable,
 123                 .DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
 124                 .DMA_MemoryDataSize     = DMA_MemoryDataSize_Byte,
 125                 .DMA_Mode     = DMA_Mode_Normal,
 126                 .DMA_Priority = DMA_Priority_Medium,
 127                 .DMA_M2M                 = DMA_M2M_Disable,
 128             },
 129         },
 130         .tx                              = {
 131             .channel = DMA1_Channel3,
 132             .init    = {
 133                 .DMA_PeripheralBaseAddr  = (uint32_t)&(SPI1->DR),
 134                 .DMA_DIR                 = DMA_DIR_PeripheralDST,
 135                 .DMA_PeripheralInc      = DMA_PeripheralInc_Disable,
 136                 .DMA_MemoryInc          = DMA_MemoryInc_Enable,
 137                 .DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
 138                 .DMA_MemoryDataSize     = DMA_MemoryDataSize_Byte,
 139                 .DMA_Mode     = DMA_Mode_Normal,
 140                 .DMA_Priority = DMA_Priority_Medium,
 141                 .DMA_M2M                 = DMA_M2M_Disable,
 142             },
 143         },
 144     },
 145     .use_crc = false,
 146     .sclk    = {
 147         .gpio = GPIOA,
 148         .init = {
 149             .GPIO_Pin   = GPIO_Pin_5,
 150             .GPIO_Speed = GPIO_Speed_10MHz,
 151             .GPIO_Mode  = GPIO_Mode_AF,
 152             .GPIO_OType = GPIO_OType_PP,
 153         },
 154     },
 155     .miso                                = {
 156         .gpio = GPIOA,
 157         .init = {
 158             .GPIO_Pin   = GPIO_Pin_6,
 159             .GPIO_Speed = GPIO_Speed_10MHz,
 160             .GPIO_Mode  = GPIO_Mode_AF,
 161             .GPIO_OType = GPIO_OType_OD,
 162         },
 163     },
 164     .mosi                                = {
 165         .gpio = GPIOA,
 166         .init = {
 167             .GPIO_Pin   = GPIO_Pin_7,
 168             .GPIO_Speed = GPIO_Speed_10MHz,
 169             .GPIO_Mode  = GPIO_Mode_AF,
 170             .GPIO_OType = GPIO_OType_PP,
 171         },
 172     },
 173     .slave_count                         = 2,
 174     .ssel                                = {
 175         {
 176             .gpio = GPIOA,
 177             .init = {
 178                 .GPIO_Pin   = GPIO_Pin_4,
 179                 .GPIO_Speed = GPIO_Speed_10MHz,
 180                 .GPIO_Mode  = GPIO_Mode_OUT,
 181                 .GPIO_OType = GPIO_OType_PP,
 182             }
 183         },
 184         {
 185             .gpio = GPIOB,
 186             .init = {
 187                 .GPIO_Pin   = GPIO_Pin_1,
 188                 .GPIO_Speed = GPIO_Speed_10MHz,
 189                 .GPIO_Mode  = GPIO_Mode_OUT,
 190                 .GPIO_OType = GPIO_OType_PP,
 191             }
 192         }
 193     },
 194 };
 195
 196 void PIOS_SPI_mag_flash_irq_handler(void)
 197 {
 198     /* Call into the generic code to handle the IRQ for this specific device */
 199     PIOS_SPI_IRQ_Handler(pios_spi_mag_flash_id);
 200 }
 201
 202 #ifdef PIOS_INCLUDE_FLASH
 203 #include "pios_flash_jedec_priv.h"
 204 #include "pios_flash.h"
 205 #endif /* PIOS_INCLUDE_FLASH */
 206
 207 #if defined(PIOS_INCLUDE_HMC5X83)
 208 #include "pios_hmc5x83.h"
 209 pios_hmc5x83_dev_t onboard_mag;
 210
 211 #ifdef PIOS_HMC5X83_HAS_GPIOS
 212 bool pios_board_mag_handler()
 213 {
 214     return PIOS_HMC5x83_IRQHandler(onboard_mag);
 215 }
 216 static const struct pios_exti_cfg pios_exti_mag_cfg __exti_config = {
 217     .vector = pios_board_mag_handler,
 218     .line   = EXTI_Line0,
 219     .pin    = {
 220         .gpio = GPIOB,
 221         .init = {
 222             .GPIO_Pin   = GPIO_Pin_0,
 223             .GPIO_Speed = GPIO_Speed_Level_3,
 224             .GPIO_Mode  = GPIO_Mode_IN,
 225             .GPIO_OType = GPIO_OType_OD,
 226             .GPIO_PuPd  = GPIO_PuPd_NOPULL,
 227         },
 228     },
 229     .irq                             = {
 230         .init                        = {
 231             .NVIC_IRQChannel    = EXTI0_1_IRQn,
 232             .NVIC_IRQChannelPriority = PIOS_IRQ_PRIO_LOW,
 233             .NVIC_IRQChannelCmd = ENABLE,
 234         },
 235     },
 236     .exti                            = {
 237         .init                        = {
 238             .EXTI_Line    = EXTI_Line0, // matches above GPIO pin
 239             .EXTI_Mode    = EXTI_Mode_Interrupt,
 240             .EXTI_Trigger = EXTI_Trigger_Rising,
 241             .EXTI_LineCmd = ENABLE,
 242         },
 243     },
 244 };
 245 #endif /* ifdef PIOS_HMC5X83_HAS_GPIOS */
 246
 247 static const struct pios_hmc5x83_cfg pios_mag_cfg = {
 248 #ifdef PIOS_HMC5X83_HAS_GPIOS
 249     .exti_cfg    = &pios_exti_mag_cfg,
 250 #endif
 251     .M_ODR       = PIOS_HMC5x83_ODR_30,
 252     .Meas_Conf   = PIOS_HMC5x83_MEASCONF_NORMAL,
 253     .Gain             = PIOS_HMC5x83_GAIN_1_3,
 254     .Mode             = PIOS_HMC5x83_MODE_CONTINUOUS,
 255     .Driver      = &PIOS_HMC5x83_SPI_DRIVER,
 256     .TempCompensation = true,
 257     .Orientation = PIOS_HMC5X83_ORIENTATION_WEST_NORTH_DOWN,
 258 };
 259 #endif /* PIOS_INCLUDE_HMC5883 */
 260
 261
 262 #endif /* PIOS_INCLUDE_SPI */
 263
 264 #if defined(PIOS_INCLUDE_USART)
 265
 266 #include "pios_usart_priv.h"
 267
 268 static const struct pios_usart_cfg pios_usart_generic_main_cfg = {
 269     .regs  = USART1,
 270     .remap = GPIO_AF_1,
 271     .rx    = {
 272         .gpio = GPIOA,
 273         .init = {
 274             .GPIO_Pin   = GPIO_Pin_10,
 275             .GPIO_Speed = GPIO_Speed_2MHz,
 276             .GPIO_OType = GPIO_OType_OD,
 277             .GPIO_Mode  = GPIO_Mode_AF,
 278         },
 279     },
 280     .tx                 = {
 281         .gpio = GPIOA,
 282         .init = {
 283             .GPIO_Pin   = GPIO_Pin_9,
 284             .GPIO_Speed = GPIO_Speed_2MHz,
 285             .GPIO_OType = GPIO_OType_PP,
 286             .GPIO_Mode  = GPIO_Mode_AF,
 287         },
 288     },
 289 };
 290
 291 #endif /* PIOS_INCLUDE_USART */
 292
 293 #if defined(PIOS_INCLUDE_COM)
 294
 295 #include "pios_com_priv.h"
 296
 297 #endif /* PIOS_INCLUDE_COM */
 298
 299 #if defined(PIOS_INCLUDE_RTC)
 300 /*
 301  * Realtime Clock (RTC)
 302  */
 303 #include <pios_rtc_priv.h>
 304
 305 void PIOS_RTC_IRQ_Handler(void);
 306 void RTC_IRQHandler() __attribute__((alias("PIOS_RTC_IRQ_Handler")));
 307 static const struct pios_rtc_cfg pios_rtc_main_cfg = {
 308     .clksrc    = RCC_RTCCLKSource_LSI,
 309     .prescaler = 100,
 310     .irq                             = {
 311         .init                        = {
 312             .NVIC_IRQChannel    = RTC_IRQn,
 313             .NVIC_IRQChannelPriority = PIOS_IRQ_PRIO_MID,
 314             .NVIC_IRQChannelCmd = ENABLE,
 315         },
 316     },
 317 };
 318
 319 void PIOS_RTC_IRQ_Handler(void)
 320 {
 321     PIOS_RTC_irq_handler();
 322 }
 323
 324 #endif /* if defined(PIOS_INCLUDE_RTC) */
 325
 326 #if defined(PIOS_INCLUDE_I2C)
 327
 328 #include <pios_i2c_priv.h>
 329
 330 /*
 331  * I2C Adapters
 332  */
 333
 334 void PIOS_I2C_gps_irq_handler(void);
 335 void I2C1_IRQHandler() __attribute__((alias("PIOS_I2C_gps_irq_handler")));
 336
 337 static const struct pios_i2c_adapter_cfg pios_i2c_gps_cfg = {
 338     .remapSDA = GPIO_AF_1,
 339     .remapSCL = GPIO_AF_1,
 340     .regs     = I2C1,
 341     .init     = {
 342         .I2C_Mode                    = I2C_Mode_I2C,
 343         .I2C_AnalogFilter  = I2C_AnalogFilter_Enable,
 344         .I2C_DigitalFilter = 0x00,
 345         .I2C_OwnAddress1   = 0x00,
 346         .I2C_Ack    = I2C_Ack_Enable,
 347         .I2C_AcknowledgedAddress     = I2C_AcknowledgedAddress_7bit,
 348         .I2C_Timing = (uint32_t)0x00210507,
 349     },
 350     .transfer_timeout_ms             = 50,
 351     .scl                             = {
 352         .gpio = GPIOB,
 353         .init = {
 354             .GPIO_Pin   = GPIO_Pin_6,
 355             .GPIO_Speed = GPIO_Speed_2MHz,
 356             .GPIO_OType = GPIO_OType_OD,
 357             .GPIO_PuPd  = GPIO_PuPd_NOPULL,
 358             .GPIO_Mode  = GPIO_Mode_AF,
 359         },
 360         .pin_source                  = GPIO_PinSource6,
 361     },
 362     .sda                             = {
 363         .gpio = GPIOB,
 364         .init = {
 365             .GPIO_Pin   = GPIO_Pin_7,
 366             .GPIO_Speed = GPIO_Speed_2MHz,
 367             .GPIO_OType = GPIO_OType_OD,
 368             .GPIO_PuPd  = GPIO_PuPd_NOPULL,
 369             .GPIO_Mode  = GPIO_Mode_AF,
 370         },
 371         .pin_source                  = GPIO_PinSource7,
 372     },
 373     .event                           = {
 374         .flags = 0,
 375         .init  = {
 376             .NVIC_IRQChannel    = I2C1_IRQn,
 377             .NVIC_IRQChannelPriority = PIOS_IRQ_PRIO_HIGH,
 378             .NVIC_IRQChannelCmd = ENABLE,
 379         },
 380     },
 381     .error                           = {
 382         .flags = 0,
 383         .init  = {
 384             .NVIC_IRQChannel    = I2C1_IRQn,
 385             .NVIC_IRQChannelPriority = PIOS_IRQ_PRIO_HIGH,
 386             .NVIC_IRQChannelCmd = ENABLE,
 387         },
 388     },
 389 };
 390
 391 uint32_t pios_i2c_gps_id;
 392 void PIOS_I2C_gps_irq_handler(void)
 393 {
 394     /* Call into the generic code to handle the IRQ for this specific device */
 395     PIOS_I2C_IRQ_Handler(pios_i2c_gps_id);
 396 }
 397
 398
 399 #endif /* PIOS_INCLUDE_I2C */
 400
 401 #if defined(PIOS_INCLUDE_COM_MSG)
 402
 403 #include <pios_com_msg_priv.h>
 404
 405 #endif /* PIOS_INCLUDE_COM_MSG */