DTFAIR Seppuku

Modules
	CMSIS
	USB_OTG_DRIVER

Files
file	pios_board.c
	Board specific initialization for the bootloader.
file	pios_config.h
	Board specific bootloader configuration file for PiOS.
file	board_hw_defs.c
	Defines board specific static initializers for hardware for the Seppuku board.
file	cmsis_system.c
	CMSIS Cortex-M4 Device Peripheral Access Layer System Source File. This file contains the system clock configuration for STM32F4xx devices, and is generated by the clock configuration tool stm32f4xx_Clock_Configuration_V1.0.0.xls.
file	pios_board.h
	Board specific defines for Seppuku.
file	usb_conf.h
	General low level driver configuration.
file	pios_board.c
	The board specific initialization routines.
file	pios_config.h
	Board specific options that modify PiOS capabilities.

Macros
#define	PIOS_INCLUDE_ANNUNC
#define	PIOS_INCLUDE_SYS
#define	PIOS_INCLUDE_IAP
#define	PIOS_INCLUDE_USB
#define	PIOS_INCLUDE_USB_HID
#define	PIOS_INCLUDE_COM_MSG
#define	PIOS_INCLUDE_FLASH
#define	PIOS_INCLUDE_FLASH_INTERNAL
#define	PIOS_INCLUDE_WS2811
#define	DEBUG_PRINTF(level,...)
#define	BOARD_READABLE   true
#define	BOARD_WRITABLE   true
#define	MAX_DEL_RETRYS   3
#define	PIOS_LED_ALARM   0
#define	PIOS_LED_HEARTBEAT   0
#define	PIOS_ANNUNCIATOR_BUZZER   1
#define	PIOS_WATCHDOG_TIMEOUT   250
#define	PIOS_WDG_REGISTER   RTC_BKP_DR4
#define	PIOS_COM_GPS   (pios_com_gps_id)
#define	PIOS_COM_TELEM_USB   (pios_com_telem_usb_id)
#define	PIOS_COM_BRIDGE   (pios_com_bridge_id)
#define	PIOS_COM_VCP   (pios_com_vcp_id)
#define	PIOS_COM_MAVLINK   (pios_com_mavlink_id)
#define	PIOS_COM_HOTT   (pios_com_hott_id)
#define	PIOS_COM_FRSKY_SENSOR_HUB   (pios_com_frsky_sensor_hub_id)
#define	PIOS_COM_LIGHTTELEMETRY   (pios_com_lighttelemetry_id)
#define	PIOS_COM_FRSKY_SPORT   (pios_com_frsky_sport_id)
#define	PIOS_COM_OPENLOG   (pios_com_openlog_logging_id)
#define	PIOS_COM_STORM32BGC   (pios_com_storm32bgc_id)
#define	PIOS_SYSCLK   168000000
#define	PIOS_PERIPHERAL_APB1_CLOCK   (PIOS_SYSCLK / 4)
#define	PIOS_PERIPHERAL_APB2_CLOCK   (PIOS_SYSCLK / 2)
#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_RCVR_MAX_CHANNELS   12
#define	PIOS_PPM_NUM_INPUTS   12
#define	PIOS_PWM_NUM_INPUTS   8
#define	PIOS_DSM_NUM_INPUTS   12
#define	PIOS_HSUM_MAX_DEVS   2
#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   8
#define	PIOS_ADC_MAX_OVERSAMPLING   4
#define	VREF_PLUS   3.3
#define	PIOS_USB_ENABLED   1 /* Should remove all references to this */
#define	STABILIZATION_LQG
#define	PIOS_INCLUDE_I2C
#define	PIOS_INCLUDE_SPI
#define	PIOS_INCLUDE_FASTHEAP
#define	PIOS_INCLUDE_TBSVTXCONFIG
#define	PIOS_INCLUDE_WS2811
#define	PIOS_INCLUDE_DAC
#define	PIOS_INCLUDE_DAC_FSK
#define	PIOS_INCLUDE_DAC_ANNUNCIATOR
#define	PIOS_INCLUDE_BMI160
#define	PIOS_INCLUDE_BMP280
#define	PIOS_INCLUDE_BMP280_SPI
#define	PIOS_INCLUDE_LIS3MDL
#define	PIOS_INCLUDE_HMC5883
#define	PIOS_INCLUDE_HMC5983_I2C
#define	PIOS_INCLUDE_MPXV5004
#define	PIOS_INCLUDE_MPXV7002
#define	PIOS_INCLUDE_OPTICALFLOW
#define	PIOS_INCLUDE_RANGEFINDER
#define	PIOS_INCLUDE_PX4FLOW
#define	PIOS_TOLERATE_MISSING_SENSORS
#define	PIOS_INCLUDE_MAVLINK
#define	PIOS_INCLUDE_LIGHTTELEMETRY
#define	PIOS_INCLUDE_PWM
#define	PIOS_VIDEO_TIM4_COUNTER
#define	PIOS_INCLUDE_VIDEO
#define	PIOS_VIDEO_SPLITBUFFER   /* Uses 2 1-bit/pixel buffers */
#define	PIOS_VIDEO_HSYNC_OFFSET   -22
#define	PIOS_VIDEO_INPUT_FILTER
#define	PIOS_OMIT_TIM2IRQ
#define	OSD_USE_MENU
#define	MODULE_FLIGHTSTATS_BUILTIN
#define	SYSTEMMOD_RGBLED_SUPPORT
#define	SYSTEMMOD_RGBLED_VIDEO_HACK
#define	CAMERASTAB_POI_MODE
#define	PIOS_INCLUDE_DMASHOT
#define	IDLE_COUNTS_PER_SEC_AT_NO_LOAD   (9873737)

Functions
void	PIOS_Board_Init ()

Variables
uintptr_t	pios_com_telem_usb_id
static const TIM_TimeBaseInitTypeDef	tim_3_4_5_14_time_base
static const TIM_TimeBaseInitTypeDef	tim_8_time_base
static const struct pios_tim_clock_cfg	tim_3_cfg
static const struct pios_tim_clock_cfg	tim_4_cfg
static const struct pios_tim_clock_cfg	tim_5_cfg
static const struct pios_tim_clock_cfg	tim_14_cfg
static const struct pios_tim_clock_cfg	tim_8_cfg
static const struct pios_tim_channel	pios_tim_servoport_all_pins []
static const struct pios_tim_channel	pios_tim_rcvrport_all_channels []
const struct stm32_gpio	video_mask_pin
uintptr_t	pios_com_telem_serial_id
uintptr_t	pios_com_gps_id
uintptr_t	pios_com_telem_usb_id
uintptr_t	pios_com_bridge_id
uintptr_t	pios_com_vcp_id
uintptr_t	pios_com_mavlink_id
uintptr_t	pios_com_hott_id
uintptr_t	pios_com_frsky_sensor_hub_id
uintptr_t	pios_com_lighttelemetry_id
uintptr_t	pios_com_frsky_sport_id
uintptr_t	pios_com_openlog_logging_id
uintptr_t	pios_com_storm32bgc_id
uintptr_t	pios_com_openlog_logging_id
uintptr_t	pios_uavo_settings_fs_id
uintptr_t	pios_internal_adc_id
uintptr_t	external_i2c_adapter_id = 0

Detailed Description

Macro Definition Documentation

#define BOARD_READABLE   true

Definition at line 82 of file pios_board.h.

#define BOARD_WRITABLE   true

Definition at line 83 of file pios_board.h.

#define CAMERASTAB_POI_MODE

Definition at line 91 of file pios_config.h.

#define DEBUG_PRINTF	(		level,
			...
	)

Definition at line 43 of file pios_board.h.

#define IDLE_COUNTS_PER_SEC_AT_NO_LOAD   (9873737)

Definition at line 109 of file pios_config.h.

#define MAX_DEL_RETRYS   3

Definition at line 84 of file pios_board.h.

#define MODULE_FLIGHTSTATS_BUILTIN

Definition at line 84 of file pios_config.h.

#define OSD_USE_MENU

Definition at line 82 of file pios_config.h.

#define PIOS_ADC_MAX_OVERSAMPLING   4

Definition at line 218 of file pios_board.h.

#define PIOS_ANNUNCIATOR_BUZZER   1

Definition at line 92 of file pios_board.h.

#define PIOS_COM_BRIDGE   (pios_com_bridge_id)

Definition at line 120 of file pios_board.h.

#define PIOS_COM_FRSKY_SENSOR_HUB   (pios_com_frsky_sensor_hub_id)

Definition at line 124 of file pios_board.h.

#define PIOS_COM_FRSKY_SPORT   (pios_com_frsky_sport_id)

Definition at line 126 of file pios_board.h.

#define PIOS_COM_GPS   (pios_com_gps_id)

Definition at line 118 of file pios_board.h.

#define PIOS_COM_HOTT   (pios_com_hott_id)

Definition at line 123 of file pios_board.h.

#define PIOS_COM_LIGHTTELEMETRY   (pios_com_lighttelemetry_id)

Definition at line 125 of file pios_board.h.

#define PIOS_COM_MAVLINK   (pios_com_mavlink_id)

Definition at line 122 of file pios_board.h.

#define PIOS_COM_OPENLOG   (pios_com_openlog_logging_id)

Definition at line 127 of file pios_board.h.

#define PIOS_COM_STORM32BGC   (pios_com_storm32bgc_id)

Definition at line 128 of file pios_board.h.

#define PIOS_COM_TELEM_USB   (pios_com_telem_usb_id)

Definition at line 119 of file pios_board.h.

#define PIOS_COM_VCP   (pios_com_vcp_id)

Definition at line 121 of file pios_board.h.

#define PIOS_DSM_NUM_INPUTS   12

Definition at line 191 of file pios_board.h.

#define PIOS_HSUM_MAX_DEVS   2

Definition at line 196 of file pios_board.h.

#define PIOS_HSUM_NUM_INPUTS   32

Definition at line 197 of file pios_board.h.

#define PIOS_INCLUDE_ANNUNC

Definition at line 39 of file pios_config.h.

#define PIOS_INCLUDE_BMI160

Definition at line 53 of file pios_config.h.

#define PIOS_INCLUDE_BMP280

Definition at line 54 of file pios_config.h.

#define PIOS_INCLUDE_BMP280_SPI

Definition at line 55 of file pios_config.h.

#define PIOS_INCLUDE_COM_MSG

Definition at line 44 of file pios_config.h.

#define PIOS_INCLUDE_DAC

Definition at line 48 of file pios_config.h.

#define PIOS_INCLUDE_DAC_ANNUNCIATOR

Definition at line 50 of file pios_config.h.

#define PIOS_INCLUDE_DAC_FSK

Definition at line 49 of file pios_config.h.

#define PIOS_INCLUDE_DMASHOT

Definition at line 94 of file pios_config.h.

#define PIOS_INCLUDE_FASTHEAP

Definition at line 45 of file pios_config.h.

#define PIOS_INCLUDE_FLASH

Definition at line 45 of file pios_config.h.

#define PIOS_INCLUDE_FLASH_INTERNAL

Definition at line 46 of file pios_config.h.

#define PIOS_INCLUDE_HMC5883

Definition at line 57 of file pios_config.h.

#define PIOS_INCLUDE_HMC5983_I2C

Definition at line 58 of file pios_config.h.

#define PIOS_INCLUDE_I2C

Definition at line 43 of file pios_config.h.

#define PIOS_INCLUDE_IAP

Definition at line 41 of file pios_config.h.

#define PIOS_INCLUDE_LIGHTTELEMETRY

Definition at line 69 of file pios_config.h.

#define PIOS_INCLUDE_LIS3MDL

Definition at line 56 of file pios_config.h.

#define PIOS_INCLUDE_MAVLINK

Definition at line 68 of file pios_config.h.

#define PIOS_INCLUDE_MPXV5004

Definition at line 60 of file pios_config.h.

#define PIOS_INCLUDE_MPXV7002

Definition at line 61 of file pios_config.h.

#define PIOS_INCLUDE_OPTICALFLOW

Definition at line 62 of file pios_config.h.

#define PIOS_INCLUDE_PWM

Definition at line 73 of file pios_config.h.

#define PIOS_INCLUDE_PX4FLOW

Definition at line 64 of file pios_config.h.

#define PIOS_INCLUDE_RANGEFINDER

Definition at line 63 of file pios_config.h.

#define PIOS_INCLUDE_SPI

Definition at line 44 of file pios_config.h.

#define PIOS_INCLUDE_SYS

Definition at line 40 of file pios_config.h.

#define PIOS_INCLUDE_TBSVTXCONFIG

Definition at line 46 of file pios_config.h.

#define PIOS_INCLUDE_USB

Definition at line 42 of file pios_config.h.

#define PIOS_INCLUDE_USB_HID

Definition at line 43 of file pios_config.h.

#define PIOS_INCLUDE_VIDEO

Definition at line 77 of file pios_config.h.

#define PIOS_INCLUDE_WS2811

Definition at line 47 of file pios_config.h.

#define PIOS_INCLUDE_WS2811

Definition at line 48 of file pios_config.h.

#define PIOS_IRQ_PRIO_HIGH   5

Definition at line 169 of file pios_board.h.

#define PIOS_IRQ_PRIO_HIGHEST   4

Definition at line 170 of file pios_board.h.

#define PIOS_IRQ_PRIO_LOW   12

Definition at line 167 of file pios_board.h.

#define PIOS_IRQ_PRIO_MID   8

Definition at line 168 of file pios_board.h.

#define PIOS_LED_ALARM   0

Definition at line 89 of file pios_board.h.

#define PIOS_LED_HEARTBEAT   0

Definition at line 90 of file pios_board.h.

#define PIOS_OMIT_TIM2IRQ

Definition at line 81 of file pios_config.h.

#define PIOS_PERIPHERAL_APB1_CLOCK   (PIOS_SYSCLK / 4)

Definition at line 152 of file pios_board.h.

#define PIOS_PERIPHERAL_APB2_CLOCK   (PIOS_SYSCLK / 2)

Definition at line 162 of file pios_board.h.

#define PIOS_PPM_NUM_INPUTS   12

Definition at line 181 of file pios_board.h.

#define PIOS_PWM_NUM_INPUTS   8

Definition at line 186 of file pios_board.h.

#define PIOS_RCVR_MAX_CHANNELS   12

Definition at line 176 of file pios_board.h.

#define PIOS_SBUS_NUM_INPUTS   (16+2)

Definition at line 202 of file pios_board.h.

#define PIOS_SERVO_UPDATE_HZ   50

Definition at line 207 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 208 of file pios_board.h.

#define PIOS_SYSCLK   168000000

Definition at line 141 of file pios_board.h.

#define PIOS_TIM_MAX_DEVS   8

Definition at line 213 of file pios_board.h.

#define PIOS_TOLERATE_MISSING_SENSORS

Definition at line 65 of file pios_config.h.

#define PIOS_USB_ENABLED   1 /* Should remove all references to this */

Definition at line 224 of file pios_board.h.

#define PIOS_VIDEO_HSYNC_OFFSET   -22

Definition at line 79 of file pios_config.h.

#define PIOS_VIDEO_INPUT_FILTER

Definition at line 80 of file pios_config.h.

#define PIOS_VIDEO_SPLITBUFFER   /* Uses 2 1-bit/pixel buffers */

Definition at line 78 of file pios_config.h.

#define PIOS_VIDEO_TIM4_COUNTER

Definition at line 76 of file pios_config.h.

#define PIOS_WATCHDOG_TIMEOUT   250

Definition at line 97 of file pios_board.h.

#define PIOS_WDG_REGISTER   RTC_BKP_DR4

Definition at line 98 of file pios_board.h.

#define STABILIZATION_LQG

Definition at line 40 of file pios_config.h.

#define SYSTEMMOD_RGBLED_SUPPORT

Definition at line 88 of file pios_config.h.

#define SYSTEMMOD_RGBLED_VIDEO_HACK

Definition at line 89 of file pios_config.h.

#define VREF_PLUS   3.3

Definition at line 219 of file pios_board.h.

Function Documentation

void PIOS_Board_Init

(

void

)

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

Definition at line 53 of file pios_board.c.

Variable Documentation

uintptr_t external_i2c_adapter_id = 0

Definition at line 62 of file pios_board.c.

uintptr_t pios_com_bridge_id

Definition at line 81 of file pios_hal.c.

uintptr_t pios_com_frsky_sensor_hub_id

uintptr_t pios_com_frsky_sport_id

uintptr_t pios_com_gps_id

Definition at line 80 of file pios_hal.c.

uintptr_t pios_com_hott_id

uintptr_t pios_com_lighttelemetry_id

uintptr_t pios_com_mavlink_id

uintptr_t pios_com_openlog_logging_id

Definition at line 58 of file pios_board.c.

uintptr_t pios_com_openlog_logging_id

Definition at line 49 of file pios_board.c.

uintptr_t pios_com_storm32bgc_id

uintptr_t pios_com_telem_serial_id

Definition at line 127 of file pios_hal.c.

uintptr_t pios_com_telem_usb_id

Definition at line 51 of file pios_board.c.

uintptr_t pios_com_telem_usb_id

Definition at line 42 of file pios_board.c.

uintptr_t pios_com_vcp_id

uintptr_t pios_internal_adc_id

Definition at line 60 of file pios_board.c.

const struct pios_tim_channel pios_tim_rcvrport_all_channels[]

static

Initial value:

= {
        {
                .timer = TIM5,
                .timer_chan = TIM_Channel_4,
                .remap = GPIO_AF_TIM5,
                .pin = {
                        .gpio = GPIOA,
                        .init = {
                                .GPIO_Pin = GPIO_Pin_3,
                                .GPIO_Speed = GPIO_Speed_2MHz,
                                .GPIO_Mode  = GPIO_Mode_AF,
                                .GPIO_OType = GPIO_OType_PP,
                                .GPIO_PuPd  = GPIO_PuPd_UP
                        },
                        .pin_source = GPIO_PinSource3,
                },
        },
}

Definition at line 1060 of file board_hw_defs.c.

const struct pios_tim_channel pios_tim_servoport_all_pins[]

static

Pios servo configuration structures

Definition at line 839 of file board_hw_defs.c.

uintptr_t pios_uavo_settings_fs_id

Simulation of the flash filesystem

Todo:

something nicer about these

Definition at line 59 of file pios_board.c.

const struct pios_tim_clock_cfg tim_14_cfg

static

Initial value:

= {
        .timer = TIM14,
        .time_base_init = &tim_3_4_5_14_time_base,
        .irq = {
                .init = {
                        .NVIC_IRQChannel                   = TIM8_TRG_COM_TIM14_IRQn,
                        .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
                        .NVIC_IRQChannelSubPriority        = 0,
                        .NVIC_IRQChannelCmd                = ENABLE,
                },
        },
}

Definition at line 794 of file board_hw_defs.c.

const TIM_TimeBaseInitTypeDef tim_3_4_5_14_time_base

static

Initial value:

= {
        .TIM_Prescaler = (PIOS_PERIPHERAL_APB1_COUNTER_CLOCK / 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 738 of file board_hw_defs.c.

const struct pios_tim_clock_cfg tim_3_cfg

static

Initial value:

= {
        .timer = TIM3,
        .time_base_init = &tim_3_4_5_14_time_base,
        .irq = {
                .init = {
                        .NVIC_IRQChannel                   = TIM3_IRQn,
                        .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
                        .NVIC_IRQChannelSubPriority        = 0,
                        .NVIC_IRQChannelCmd                = ENABLE,
                },
        },
}

Definition at line 755 of file board_hw_defs.c.

const struct pios_tim_clock_cfg tim_4_cfg

static

Initial value:

= {
        .timer = TIM4,
        .time_base_init = &tim_3_4_5_14_time_base,
        .irq = {
                .init = {
                        .NVIC_IRQChannel                   = TIM4_IRQn,
                        .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
                        .NVIC_IRQChannelSubPriority        = 0,
                        .NVIC_IRQChannelCmd                = ENABLE,
                },
        },
}

Definition at line 768 of file board_hw_defs.c.

const struct pios_tim_clock_cfg tim_5_cfg

static

Initial value:

= {
        .timer = TIM5,
        .time_base_init = &tim_3_4_5_14_time_base,
        .irq = {
                .init = {
                        .NVIC_IRQChannel                   = TIM5_IRQn,
                        .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
                        .NVIC_IRQChannelSubPriority        = 0,
                        .NVIC_IRQChannelCmd                = ENABLE,
                },
        },
}

Definition at line 781 of file board_hw_defs.c.

const struct pios_tim_clock_cfg tim_8_cfg

static

Initial value:

= {
        .timer = TIM8,
        .time_base_init = &tim_8_time_base,
        .irq = {
                .init = {
                        .NVIC_IRQChannel                   = TIM8_UP_TIM13_IRQn,
                        .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
                        .NVIC_IRQChannelSubPriority        = 0,
                        .NVIC_IRQChannelCmd                = ENABLE,
                },
        },
}

Definition at line 807 of file board_hw_defs.c.

const TIM_TimeBaseInitTypeDef tim_8_time_base

static

Initial value:

= {
        .TIM_Prescaler = (PIOS_PERIPHERAL_APB2_COUNTER_CLOCK / 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 747 of file board_hw_defs.c.

const struct stm32_gpio video_mask_pin

Initial value:

= {
        .gpio = GPIOA,
        .init = {
                .GPIO_Pin   = GPIO_Pin_6,
                .GPIO_Speed = GPIO_Speed_25MHz,
                .GPIO_Mode  = GPIO_Mode_AF,
                .GPIO_OType = GPIO_OType_PP,
                .GPIO_PuPd  = GPIO_PuPd_NOPULL
        }
}

Definition at line 1227 of file board_hw_defs.c.