FlyingPi IO Hat

Defines board specific static initializers for hardware for the FlyingPIO IO expander. More...

Modules
	CMSIS

Files
file	system_stm32f0xx.c
	CMSIS Cortex-M0 Device Peripheral Access Layer System Source File. This file contains the system clock configuration for STM32F0xx devices, and is generated by the clock configuration tool STM32F0xx_Clock_Configuration_V1.0.1.xls.

Macros
#define	PIOS_LED_HEARTBEAT   0
#define	PIOS_WATCHDOG_TIMEOUT   125
#define	PIOS_SYSCLK   40000000
#define	PIOS_PERIPHERAL_APB1_CLOCK   (PIOS_SYSCLK)
#define	PIOS_IRQ_PRIO_LOW   12
#define	PIOS_IRQ_PRIO_MID   8
#define	PIOS_IRQ_PRIO_HIGH   5
#define	PIOS_IRQ_PRIO_HIGHEST   4
#define	PIOS_IRQ_PRIO_EXTREME   0
#define	PIOS_RCVR_MAX_CHANNELS   12
#define	PIOS_PPM_NUM_INPUTS   12
#define	PIOS_DSM_NUM_INPUTS   12
#define	PIOS_HSUM_MAX_DEVS   1
#define	PIOS_HSUM_NUM_INPUTS   32
#define	PIOS_SBUS_NUM_INPUTS   (16+2)
#define	PIOS_SERVO_UPDATE_HZ   50
#define	PIOS_SERVOS_INITIAL_POSITION   0 /* dont want to start motors, have no pulse till settings loaded */
#define	PIOS_TIM_MAX_DEVS   3
#define	PIOS_ADC_SUB_DRIVER_MAX_INSTANCES   1
#define	VREF_PLUS   3.3
#define	PIOS_INCLUDE_SYS
#define	PIOS_INCLUDE_ADC
#define	PIOS_INCLUDE_COM
#define	PIOS_INCLUDE_IRQ
#define	PIOS_INCLUDE_ANNUNC
#define	PIOS_INCLUDE_RTC
#define	PIOS_INCLUDE_SERVO
#define	PIOS_INCLUDE_SPISLAVE
#define	PIOS_INCLUDE_TIM
#define	PIOS_INCLUDE_USART
#define	PIOS_INCLUDE_WDG
#define	PIOS_NO_ALARMS
#define	PIOS_NO_MODULES
#define	PIOS_INCLUDE_RCVR
#define	PIOS_INCLUDE_DSM
#define	PIOS_INCLUDE_HSUM
#define	PIOS_INCLUDE_SBUS
#define	PIOS_INCLUDE_PPM
#define	PIOS_INCLUDE_SRXL
#define	PIOS_INCLUDE_IBUS

Enumerations
enum	board_revision { BOARD_REVISION_1 = 0x01 }

Functions
const struct pios_sbus_cfg *	get_sbus_cfg (enum board_revision board_rev)
void	PIOS_Board_Init (void)
void	TIM1_CC_IRQHandler (void)
void	TIM1_BRK_UP_TRG_COM_IRQHandler (void)
void	TIM2_IRQHandler (void)
void	TIM3_IRQHandler (void)
void	TIM14_IRQHandler (void)
void	TIM15_IRQHandler (void)
void	TIM16_IRQHandler (void)
void	TIM17_IRQHandler (void)
void	USART1_IRQHandler (void)
const void *_interrupt_vectors[USART2_IRQn]	__attribute ((section(".interrupt_vectors")))
static void	handle_cfg_fa (struct flyingpicmd_cfg_fa *cmd)
static void	handle_actuator_fc (struct flyingpicmd_actuator_fc *cmd)
static void	generate_status_message (int *resp_len)
static void	process_pio_message_impl (int *resp_len)
static void	process_pio_message (void *ctx, int len, int *resp_len)
int	main ()

Variables
static const TIM_TimeBaseInitTypeDef	tim_time_base
static const struct pios_tim_clock_cfg	tim_1_cfg
static const struct pios_tim_clock_cfg	tim_3_cfg
static const struct pios_tim_clock_cfg	tim_14_cfg
static const struct pios_tim_channel	pios_tim_rcvrport_pin
static const struct pios_tim_channel	pios_tim_servoport_pins []
static bool	inited
static struct flyingpicmd_cfg_fa	cfg
uintptr_t	adc_id
static uint16_t	msg_num

Detailed Description

Defines board specific static initializers for hardware for the FlyingPIO IO expander.

Board specific options that modify PiOS capabilities.

Start the RTOS and the Modules.

Board header file for FlyingPIO IO Expander.

See Also

The GNU Public License (GPL) Version 3

Macro Definition Documentation

#define PIOS_ADC_SUB_DRIVER_MAX_INSTANCES   1

Definition at line 108 of file pios_board.h.

#define PIOS_DSM_NUM_INPUTS   12

Definition at line 76 of file pios_board.h.

#define PIOS_HSUM_MAX_DEVS   1

Definition at line 81 of file pios_board.h.

#define PIOS_HSUM_NUM_INPUTS   32

Definition at line 82 of file pios_board.h.

#define PIOS_INCLUDE_ADC

Definition at line 38 of file pios_config.h.

#define PIOS_INCLUDE_ANNUNC

Definition at line 41 of file pios_config.h.

#define PIOS_INCLUDE_COM

Definition at line 39 of file pios_config.h.

#define PIOS_INCLUDE_DSM

Definition at line 54 of file pios_config.h.

#define PIOS_INCLUDE_HSUM

Definition at line 55 of file pios_config.h.

#define PIOS_INCLUDE_IBUS

Definition at line 59 of file pios_config.h.

#define PIOS_INCLUDE_IRQ

Definition at line 40 of file pios_config.h.

#define PIOS_INCLUDE_PPM

Definition at line 57 of file pios_config.h.

#define PIOS_INCLUDE_RCVR

Definition at line 53 of file pios_config.h.

#define PIOS_INCLUDE_RTC

Definition at line 42 of file pios_config.h.

#define PIOS_INCLUDE_SBUS

Definition at line 56 of file pios_config.h.

#define PIOS_INCLUDE_SERVO

Definition at line 43 of file pios_config.h.

#define PIOS_INCLUDE_SPISLAVE

Definition at line 44 of file pios_config.h.

#define PIOS_INCLUDE_SRXL

Definition at line 58 of file pios_config.h.

#define PIOS_INCLUDE_SYS

Definition at line 33 of file pios_config.h.

#define PIOS_INCLUDE_TIM

Definition at line 45 of file pios_config.h.

#define PIOS_INCLUDE_USART

Definition at line 46 of file pios_config.h.

#define PIOS_INCLUDE_WDG

Definition at line 47 of file pios_config.h.

#define PIOS_IRQ_PRIO_EXTREME   0

Definition at line 60 of file pios_board.h.

#define PIOS_IRQ_PRIO_HIGH   5

Definition at line 58 of file pios_board.h.

#define PIOS_IRQ_PRIO_HIGHEST   4

Definition at line 59 of file pios_board.h.

#define PIOS_IRQ_PRIO_LOW   12

Definition at line 56 of file pios_board.h.

#define PIOS_IRQ_PRIO_MID   8

Definition at line 57 of file pios_board.h.

#define PIOS_LED_HEARTBEAT   0

Definition at line 38 of file pios_board.h.

#define PIOS_NO_ALARMS

Definition at line 49 of file pios_config.h.

#define PIOS_NO_MODULES

Definition at line 50 of file pios_config.h.

#define PIOS_PERIPHERAL_APB1_CLOCK   (PIOS_SYSCLK)

Definition at line 50 of file pios_board.h.

#define PIOS_PPM_NUM_INPUTS   12

Definition at line 71 of file pios_board.h.

#define PIOS_RCVR_MAX_CHANNELS   12

Definition at line 66 of file pios_board.h.

#define PIOS_SBUS_NUM_INPUTS   (16+2)

Definition at line 87 of file pios_board.h.

#define PIOS_SERVO_UPDATE_HZ   50

Definition at line 92 of file pios_board.h.

#define PIOS_SERVOS_INITIAL_POSITION   0 /* dont want to start motors, have no pulse till settings loaded */

Definition at line 93 of file pios_board.h.

#define PIOS_SYSCLK   40000000

Definition at line 49 of file pios_board.h.

#define PIOS_TIM_MAX_DEVS   3

Definition at line 98 of file pios_board.h.

#define PIOS_WATCHDOG_TIMEOUT   125

Definition at line 43 of file pios_board.h.

#define VREF_PLUS   3.3

Definition at line 110 of file pios_board.h.

Enumeration Type Documentation

enum board_revision

Enumerator
BOARD_REVISION_1

Definition at line 35 of file board_hw_defs.c.

Function Documentation

const void* _interrupt_vectors [USART2_IRQn] __attribute

(

(section(".interrupt_vectors"))

)

static void generate_status_message ( int *  resp_len )

static

Definition at line 145 of file main.c.

const struct pios_sbus_cfg* get_sbus_cfg

(

enum board_revision

board_rev

)

Definition at line 500 of file board_hw_defs.c.

static void handle_actuator_fc ( struct flyingpicmd_actuator_fc *  cmd )

static

Definition at line 121 of file main.c.

static void handle_cfg_fa ( struct flyingpicmd_cfg_fa *  cmd )

static

Definition at line 77 of file main.c.

int main

(

void

)

dRonin Main function:

Initialize PiOS
Create the "System" task (SystemModInitializein Modules/System/systemmod.c)
Start the RTOS Scheduler

CortexM3 CPU vectors

CortexM3 CPU vectors

Definition at line 207 of file main.c.

void PIOS_Board_Init

(

void

)

PIOS_Board_Init() initializes all the core subsystems on this specific hardware called from System/openpilot.c

Initialise PWM Output for black/white level setting PIOS_Board_Init() initializes all the core subsystems on this specific hardware called from System/openpilot.c

PIOS_Board_Init() initializes all the core subsystems on this specific hardware

PIOS_Board_Init() initializes all the core systems on this specific hardware called from System/openpilot.c

Definition at line 44 of file pios_board.c.

static void process_pio_message ( void *  ctx, int  len, int *  resp_len  )

static

Definition at line 195 of file main.c.

static void process_pio_message_impl ( int *  resp_len )

static

Definition at line 174 of file main.c.

void TIM14_IRQHandler

(

void

)

Definition at line 351 of file pios_tim.c.

void TIM15_IRQHandler

(

void

)

Definition at line 359 of file pios_tim.c.

void TIM16_IRQHandler

(

void

)

Definition at line 367 of file pios_tim.c.

void TIM17_IRQHandler

(

void

)

Definition at line 375 of file pios_tim.c.

void TIM1_BRK_UP_TRG_COM_IRQHandler

(

void

)

void TIM1_CC_IRQHandler

(

void

)

Definition at line 317 of file pios_tim.c.

void TIM2_IRQHandler

(

void

)

Definition at line 327 of file pios_tim.c.

void TIM3_IRQHandler

(

void

)

Definition at line 335 of file pios_tim.c.

void USART1_IRQHandler

(

void

)

Variable Documentation

uintptr_t adc_id

Definition at line 51 of file main.c.

struct flyingpicmd_cfg_fa cfg

static

Definition at line 49 of file main.c.

bool inited

static

Definition at line 47 of file main.c.

uint16_t msg_num

static

Definition at line 52 of file main.c.

const struct pios_tim_channel pios_tim_rcvrport_pin

static

Initial value:

= {
        .timer =  TIM14,
        .timer_chan = TIM_Channel_1,
        .remap = GPIO_AF_0,
        .pin = {
                .gpio = GPIOB,
                .init = {
                        .GPIO_Pin   = GPIO_Pin_1,
                        .GPIO_Mode  = GPIO_Mode_AF,
                        .GPIO_PuPd  = GPIO_PuPd_UP,
                        .GPIO_OType = GPIO_OType_PP,
                        .GPIO_Speed = GPIO_Speed_2MHz,
                },
                .pin_source = GPIO_PinSource1,
        },
}

Definition at line 251 of file board_hw_defs.c.

const struct pios_tim_channel pios_tim_servoport_pins[]

static

Definition at line 268 of file board_hw_defs.c.

const struct pios_tim_clock_cfg tim_14_cfg

static

Initial value:

= {
        .timer = TIM14,
        .time_base_init = &tim_time_base,
        .irq = {
                .init = {
                        .NVIC_IRQChannel                   = TIM14_IRQn,
                        .NVIC_IRQChannelCmd                = ENABLE,
                },
        },
}

Definition at line 228 of file board_hw_defs.c.

const struct pios_tim_clock_cfg tim_1_cfg

static

Initial value:

= {
        .timer = TIM1,
        .time_base_init = &tim_time_base,
        .irq = {
                .init = {
                        .NVIC_IRQChannel                   = TIM1_CC_IRQn,
                        .NVIC_IRQChannelCmd                = ENABLE,
                },
        },
}

Definition at line 205 of file board_hw_defs.c.

const struct pios_tim_clock_cfg tim_3_cfg

static

Initial value:

= {
        .timer = TIM3,
        .time_base_init = &tim_time_base,
        .irq = {
                .init = {
                        .NVIC_IRQChannel                   = TIM3_IRQn,
                        .NVIC_IRQChannelCmd                = ENABLE,
                },
        },
}

Definition at line 216 of file board_hw_defs.c.

const TIM_TimeBaseInitTypeDef tim_time_base

static

Initial value:

= {
        .TIM_Prescaler = (PIOS_SYSCLK / 1000000) - 1,
        .TIM_ClockDivision = TIM_CKD_DIV1,
        .TIM_CounterMode = TIM_CounterMode_Up,
        .TIM_Period = ((1000000 / PIOS_SERVO_UPDATE_HZ) - 1),
        .TIM_RepetitionCounter = 0x0000,
}

Definition at line 197 of file board_hw_defs.c.