board_hw_defs.c

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#include <pios_config.h>
#include <pios_board_info.h>

#if defined(PIOS_INCLUDE_ANNUNC)

#include <pios_annunc_priv.h>
static const struct pios_annunc pios_annuncs[] = {
        [PIOS_LED_USB] = {
                .pin = {
                        .gpio = GPIOB,
                        .init = {
                                .GPIO_Pin   = GPIO_Pin_4,
                                .GPIO_Mode  = GPIO_Mode_Out_PP,
                                .GPIO_Speed = GPIO_Speed_50MHz,
                        },
                },
        },
        [PIOS_LED_LINK] = {
                .pin = {
                        .gpio = GPIOB,
                        .init = {
                                .GPIO_Pin   = GPIO_Pin_5,
                                .GPIO_Mode  = GPIO_Mode_Out_PP,
                                .GPIO_Speed = GPIO_Speed_50MHz,
                        },
                },
        },
        [PIOS_LED_RX] = {
                .pin = {
                        .gpio = GPIOB,
                        .init = {
                                .GPIO_Pin   = GPIO_Pin_6,
                                .GPIO_Mode  = GPIO_Mode_Out_PP,
                                .GPIO_Speed = GPIO_Speed_50MHz,
                        },
                },
        },
        [PIOS_LED_TX] = {
                .pin = {
                        .gpio = GPIOB,
                        .init = {
                                .GPIO_Pin   = GPIO_Pin_7,
                                .GPIO_Mode  = GPIO_Mode_Out_PP,
                                .GPIO_Speed = GPIO_Speed_50MHz,
                        },
                },
        },
};

static const struct pios_annunc_cfg pios_annunc_cfg = {
        .annunciators     = pios_annuncs,
        .num_annunciators = NELEMENTS(pios_annuncs),
};

const struct pios_annunc_cfg * PIOS_BOARD_HW_DEFS_GetLedCfg (uint32_t board_revision)
{
        return &pios_annunc_cfg;
}

#endif  /* PIOS_INCLUDE_ANNUNC */

#if defined(PIOS_INCLUDE_SPI)

#include <pios_spi_priv.h>

/* OP Interface
 *
 * NOTE: Leave this declared as const data so that it ends up in the
 * .rodata section (ie. Flash) rather than in the .bss section (RAM).
 */

static const struct pios_spi_cfg pios_spi_rfm22b_cfg =
{
        .regs = SPI1,

        .init =
        {
                .SPI_Mode = SPI_Mode_Master,
                .SPI_Direction = SPI_Direction_2Lines_FullDuplex,
                .SPI_DataSize = SPI_DataSize_8b,
                .SPI_NSS = SPI_NSS_Soft,
                .SPI_FirstBit = SPI_FirstBit_MSB,
                .SPI_CRCPolynomial = 0,
                .SPI_CPOL = SPI_CPOL_Low,
                .SPI_CPHA = SPI_CPHA_1Edge,
                .SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_16,              // slowest SCLK
        },
        .slave_count = 1,
        .ssel =
        {{
                .gpio = GPIOA,
                .init =
                {
                        .GPIO_Pin = GPIO_Pin_4,
                        .GPIO_Speed = GPIO_Speed_10MHz,
                        .GPIO_Mode = GPIO_Mode_Out_PP,
                },
        }},
        .sclk =
        {
                .gpio = GPIOA,
                .init =
                {
                        .GPIO_Pin = GPIO_Pin_5,
                        .GPIO_Speed = GPIO_Speed_10MHz,
                        .GPIO_Mode = GPIO_Mode_AF_PP,
                },
        },
        .miso =
        {
                .gpio = GPIOA,
                .init =
                {
                        .GPIO_Pin = GPIO_Pin_6,
                        .GPIO_Speed = GPIO_Speed_10MHz,
                        .GPIO_Mode  = GPIO_Mode_IN_FLOATING,
                },
        },
        .mosi =
        {
                .gpio = GPIOA,
                .init =
                {
                        .GPIO_Pin = GPIO_Pin_7,
                        .GPIO_Speed = GPIO_Speed_10MHz,
                        .GPIO_Mode = GPIO_Mode_AF_PP,
                },
        },
};

pios_spi_t pios_spi_rfm22b_id;

#endif /* PIOS_INCLUDE_SPI */

#if defined(PIOS_INCLUDE_OPENLRS)

#include <pios_openlrs_priv.h>

pios_openlrs_t openlrs_handle;

static bool openlrs_int(void) {
       return PIOS_OpenLRS_EXT_Int(openlrs_handle);
}

static const struct pios_exti_cfg pios_exti_rfm22b_cfg __exti_config = {
        .vector = openlrs_int,
        .line = EXTI_Line2,
        .pin = {
                .gpio = GPIOA,
                .init = {
                        .GPIO_Pin = GPIO_Pin_2,
                        .GPIO_Mode = GPIO_Mode_IN_FLOATING,
                },
        },
        .irq = {
                .init = {
                        .NVIC_IRQChannel = EXTI2_IRQn,
                        .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW,
                        .NVIC_IRQChannelSubPriority = 0,
                        .NVIC_IRQChannelCmd = ENABLE,
                },
        },
        .exti = {
                .init = {
                        .EXTI_Line = EXTI_Line2,
                        .EXTI_Mode = EXTI_Mode_Interrupt,
                        .EXTI_Trigger = EXTI_Trigger_Falling,
                        .EXTI_LineCmd = ENABLE,
                },
        },
};

const struct stm32_gpio pios_openlrs_taulink_bind_button = {
        .gpio = GPIOB,
        .init =
        {
                .GPIO_Pin = GPIO_Pin_8,
                .GPIO_Speed = GPIO_Speed_10MHz,
                .GPIO_Mode  = GPIO_Mode_IPD,
        },
};

const struct pios_openlrs_cfg pios_openlrs_taulink_cfg = {
        .spi_cfg = &pios_spi_rfm22b_cfg,
        .exti_cfg = &pios_exti_rfm22b_cfg,
        .gpio_direction = GPIO0_TX_GPIO1_RX,

        .bind_button = &pios_openlrs_taulink_bind_button,

        .bind_active_high = true,
};

static const struct pios_exti_cfg pios_exti_rfm22b_cfg_module __exti_config = {
        .vector = openlrs_int,
        .line = EXTI_Line1,
        .pin = {
                .gpio = GPIOA,
                .init = {
                        .GPIO_Pin = GPIO_Pin_1,
                        .GPIO_Mode = GPIO_Mode_IN_FLOATING,
                },
        },
        .irq = {
                .init = {
                        .NVIC_IRQChannel = EXTI1_IRQn,
                        .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW,
                        .NVIC_IRQChannelSubPriority = 0,
                        .NVIC_IRQChannelCmd = ENABLE,
                },
        },
        .exti = {
                .init = {
                        .EXTI_Line = EXTI_Line1,
                        .EXTI_Mode = EXTI_Mode_Interrupt,
                        .EXTI_Trigger = EXTI_Trigger_Falling,
                        .EXTI_LineCmd = ENABLE,
                },
        },
};

struct pios_openlrs_cfg pios_openlrs_taulinkmodule_cfg = {
        .spi_cfg = &pios_spi_rfm22b_cfg,
        .exti_cfg = &pios_exti_rfm22b_cfg_module,
        .gpio_direction = GPIO0_TX_GPIO1_RX,
};

const struct pios_openlrs_cfg * PIOS_BOARD_HW_DEFS_GetOpenLRSCfg (uint32_t board_revision)
{
        if (board_revision == TAULINK_VERSION_STICK)
                return &pios_openlrs_taulink_cfg;
        if (board_revision == TAULINK_VERSION_MODULE)
                return &pios_openlrs_taulinkmodule_cfg;
        return NULL;
}

#endif /* PIOS_INCLUDE_OPENLRS */

#if defined(PIOS_INCLUDE_ADC)

/*
 * ADC system
 */
#include "pios_adc_priv.h"
extern void PIOS_ADC_handler(void);
void DMA1_Channel1_IRQHandler() __attribute__ ((alias("PIOS_ADC_handler")));
// Remap the ADC DMA handler to this one
static const struct pios_adc_cfg pios_adc_cfg = {
        .dma = {
                .ahb_clk  = RCC_AHBPeriph_DMA1,
                .irq = {
                        .flags   = (DMA1_FLAG_TC1 | DMA1_FLAG_TE1 | DMA1_FLAG_HT1 | DMA1_FLAG_GL1),
                        .init    = {
                                .NVIC_IRQChannel                   = DMA1_Channel1_IRQn,
                                .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
                                .NVIC_IRQChannelSubPriority        = 0,
                                .NVIC_IRQChannelCmd                = ENABLE,
                        },
                },
                .rx = {
                        .channel = DMA1_Channel1,
                        .init    = {
                                .DMA_PeripheralBaseAddr = (uint32_t) & ADC1->DR,
                                .DMA_DIR                = DMA_DIR_PeripheralSRC,
                                .DMA_PeripheralInc      = DMA_PeripheralInc_Disable,
                                .DMA_MemoryInc          = DMA_MemoryInc_Enable,
                                .DMA_PeripheralDataSize = DMA_PeripheralDataSize_Word,
                                .DMA_MemoryDataSize     = DMA_MemoryDataSize_Word,
                                .DMA_Mode               = DMA_Mode_Circular,
                                .DMA_Priority           = DMA_Priority_High,
                                .DMA_M2M                = DMA_M2M_Disable,
                        },
                }
        },
        .half_flag = DMA1_IT_HT1,
        .full_flag = DMA1_IT_TC1,
};

struct pios_adc_dev pios_adc_devs[] = {
        {
                .cfg = &pios_adc_cfg,
                .callback_function = NULL,
        },
};

uint8_t pios_adc_num_devices = NELEMENTS(pios_adc_devs);

void PIOS_ADC_handler() {
        PIOS_ADC_DMA_Handler();
}

#endif  /* PIOS_INCLUDE_ADC */

#if defined(PIOS_INCLUDE_TIM)

#include "pios_tim_priv.h"

static const TIM_TimeBaseInitTypeDef tim_1_2_3_4_time_base = {
        .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,
};

static const struct pios_tim_clock_cfg tim_1_cfg = {
        .timer = TIM1,
        .time_base_init = &tim_1_2_3_4_time_base,
        .irq = {
                .init = {
                        .NVIC_IRQChannel                   = TIM1_CC_IRQn,
                        .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
                        .NVIC_IRQChannelSubPriority        = 0,
                        .NVIC_IRQChannelCmd                = ENABLE,
                },
        },
};

static const struct pios_tim_clock_cfg tim_2_cfg = {
        .timer = TIM2,
        .time_base_init = &tim_1_2_3_4_time_base,
        .irq = {
                .init = {
                        .NVIC_IRQChannel                   = TIM2_IRQn,
                        .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
                        .NVIC_IRQChannelSubPriority        = 0,
                        .NVIC_IRQChannelCmd                = ENABLE,
                },
        },
};

static const struct pios_tim_clock_cfg tim_3_cfg = {
        .timer = TIM3,
        .time_base_init = &tim_1_2_3_4_time_base,
        .irq = {
                .init = {
                        .NVIC_IRQChannel                   = TIM3_IRQn,
                        .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
                        .NVIC_IRQChannelSubPriority        = 0,
                        .NVIC_IRQChannelCmd                = ENABLE,
                },
        },
};

static const struct pios_tim_clock_cfg tim_4_cfg = {
        .timer = TIM4,
        .time_base_init = &tim_1_2_3_4_time_base,
        .irq = {
                .init = {
                        .NVIC_IRQChannel                   = TIM4_IRQn,
                        .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
                        .NVIC_IRQChannelSubPriority        = 0,
                        .NVIC_IRQChannelCmd                = ENABLE,
                },
        },
};

static const struct pios_tim_channel pios_tim_ppm_flexi_port = {
        .timer = TIM2,
        .timer_chan = TIM_Channel_4,
        .pin = {
                .gpio = GPIOB,
                .init = {
                        .GPIO_Pin   = GPIO_Pin_11,
                        .GPIO_Mode  = GPIO_Mode_IPD,
                        .GPIO_Speed = GPIO_Speed_2MHz,
                },
        },
        .remap = GPIO_PartialRemap2_TIM2,
};

#endif  /* PIOS_INCLUDE_TIM */

#if defined(PIOS_INCLUDE_USART)

#include <pios_usart_priv.h>

/*
 * SERIAL USART
 */
static const struct pios_usart_cfg pios_usart_serial_cfg =
{
        .regs = USART1,
        .irq =
        {
                .init =
                {
                        .NVIC_IRQChannel = USART1_IRQn,
                        .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
                        .NVIC_IRQChannelSubPriority = 0,
                        .NVIC_IRQChannelCmd = ENABLE,
                },
        },
        .rx =
        {
                .gpio = GPIOA,
                .init =
                {
                        .GPIO_Pin = GPIO_Pin_10,
                        .GPIO_Speed = GPIO_Speed_2MHz,
                        .GPIO_Mode = GPIO_Mode_IPU,
                },
        },
        .tx =
        {
                .gpio = GPIOA,
                .init =
                {
                        .GPIO_Pin = GPIO_Pin_9,
                        .GPIO_Speed = GPIO_Speed_2MHz,
                        .GPIO_Mode = GPIO_Mode_AF_PP,
                },
        },
};

static const struct pios_usart_cfg pios_usart_bluetooth_cfg =
{
        .regs = USART2,
        .irq =
        {
                .init =
                {
                        .NVIC_IRQChannel = USART2_IRQn,
                        .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
                        .NVIC_IRQChannelSubPriority = 0,
                        .NVIC_IRQChannelCmd = ENABLE,
                },
        },
        .rx =
        {
                .gpio = GPIOA,
                .init =
                {
                        .GPIO_Pin = GPIO_Pin_3,
                        .GPIO_Speed = GPIO_Speed_2MHz,
                        .GPIO_Mode = GPIO_Mode_IPU,
                },
        },
        .tx =
        {
                .gpio = GPIOA,
                .init =
                {
                        .GPIO_Pin = GPIO_Pin_2,
                        .GPIO_Speed = GPIO_Speed_2MHz,
                        .GPIO_Mode = GPIO_Mode_AF_PP,
                },
        },
};

static const struct pios_usart_cfg pios_usart_sport_cfg = {
  .regs  = USART3,
  .irq = {
    .init    = {
      .NVIC_IRQChannel                   = USART3_IRQn,
      .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
      .NVIC_IRQChannelSubPriority        = 0,
      .NVIC_IRQChannelCmd                = ENABLE,
    },
  },
  .tx   = {
    .gpio = GPIOB,
    .init = {
      .GPIO_Pin   = GPIO_Pin_10,
      .GPIO_Speed = GPIO_Speed_2MHz,
      .GPIO_Mode  = GPIO_Mode_AF_PP,
    },
  },
};

#endif /* PIOS_INCLUDE_USART */

#if defined(PIOS_INCLUDE_COM)

#include <pios_com_priv.h>

#endif /* PIOS_INCLUDE_COM */

#if defined(PIOS_INCLUDE_RTC)
/*
 * Realtime Clock (RTC)
 */
#include <pios_rtc_priv.h>

void PIOS_RTC_IRQ_Handler (void);
void RTC_IRQHandler() __attribute__ ((alias ("PIOS_RTC_IRQ_Handler")));
static const struct pios_rtc_cfg pios_rtc_main_cfg = {
        .clksrc = RCC_RTCCLKSource_HSE_Div128,
        .prescaler = 100,
        .irq = {
                .init = {
                        .NVIC_IRQChannel                   = RTC_IRQn,
                        .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
                        .NVIC_IRQChannelSubPriority        = 0,
                        .NVIC_IRQChannelCmd                = ENABLE,
                  },
        },
};

void PIOS_RTC_IRQ_Handler (void)
{
        PIOS_RTC_irq_handler ();
}

#endif

/*
 * PPM Inputs
 */
#if defined(PIOS_INCLUDE_PPM)
#include <pios_ppm_priv.h>

const struct pios_ppm_cfg pios_ppm_cfg = {
        .tim_ic_init = {
                .TIM_ICPolarity = TIM_ICPolarity_Rising,
                .TIM_ICSelection = TIM_ICSelection_DirectTI,
                .TIM_ICPrescaler = TIM_ICPSC_DIV1,
                .TIM_ICFilter = 0x0,
        },
        .channels = &pios_tim_ppm_flexi_port,
        .num_channels = 1,
};

#endif  /* PIOS_INCLUDE_PPM */

#if defined(PIOS_INCLUDE_RCVR)
#include "pios_rcvr_priv.h"

#endif /* PIOS_INCLUDE_RCVR */

#if defined(PIOS_INCLUDE_USB)
#include "pios_usb_priv.h"

static const struct pios_usb_cfg pios_usb_main_cfg = {
        .irq = {
                .init    = {
                        .NVIC_IRQChannel                   = USB_LP_CAN1_RX0_IRQn,
                        .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW,
                        .NVIC_IRQChannelSubPriority        = 0,
                        .NVIC_IRQChannelCmd                = ENABLE,
                },
        },
        .vsense = {
                .gpio = GPIOA,
                .init = {
                        .GPIO_Pin   = GPIO_Pin_8,
                        .GPIO_Speed = GPIO_Speed_10MHz,
                        .GPIO_Mode  = GPIO_Mode_AF_OD,
                },
        }
};

#include "pios_usb_board_data_priv.h"
#include "pios_usb_desc_hid_cdc_priv.h"
#include "pios_usb_desc_hid_only_priv.h"

#endif  /* PIOS_INCLUDE_USB */

#if defined(PIOS_INCLUDE_COM_MSG)

#include <pios_com_msg_priv.h>

#endif /* PIOS_INCLUDE_COM_MSG */

#if defined(PIOS_INCLUDE_USB_HID)
#include <pios_usb_hid_priv.h>

const struct pios_usb_hid_cfg pios_usb_hid_cfg = {
        .data_if = 2,
        .data_rx_ep = 1,
        .data_tx_ep = 1,
};
#endif /* PIOS_INCLUDE_USB_HID */

#if defined(PIOS_INCLUDE_USB_CDC)
#include <pios_usb_cdc_priv.h>

const struct pios_usb_cdc_cfg pios_usb_cdc_cfg = {
        .ctrl_if = 0,
        .ctrl_tx_ep = 2,

        .data_if = 1,
        .data_rx_ep = 3,
        .data_tx_ep = 3,
};
#endif  /* PIOS_INCLUDE_USB_CDC */

#if defined(PIOS_INCLUDE_FLASH)
#include "pios_flashfs_logfs_priv.h"

static const struct flashfs_logfs_cfg flashfs_internal_settings_cfg = {
        .fs_magic      = 0x9ae1ee11,
        .arena_size    = 0x00002000,       /* 32 * slot size = 8K bytes = 4 sectors */
        .slot_size     = 0x00000100,       /* 256 bytes */
};

#include "pios_flash_internal_priv.h"

static const struct pios_flash_internal_cfg flash_internal_cfg = {
};

#include "pios_flash_priv.h"

static const struct pios_flash_sector_range stm32f1_sectors[] = {
        {
                .base_sector = 0,
                .last_sector = 127,
                .sector_size = FLASH_SECTOR_1KB,
        },
};

uintptr_t pios_internal_flash_id;
static const struct pios_flash_chip pios_flash_chip_internal = {
        .driver        = &pios_internal_flash_driver,
        .chip_id       = &pios_internal_flash_id,
        .page_size     = 16, /* 128-bit rows */
        .sector_blocks = stm32f1_sectors,
        .num_blocks    = NELEMENTS(stm32f1_sectors),
};

static const struct pios_flash_partition pios_flash_partition_table[] = {
        {
                .label        = FLASH_PARTITION_LABEL_BL,
                .chip_desc    = &pios_flash_chip_internal,
                .first_sector = 0,
                .last_sector  = 11,
                .chip_offset  = 0,
                .size         = (11 - 0 + 1) * FLASH_SECTOR_1KB,
        },

        {
                .label        = FLASH_PARTITION_LABEL_FW,
                .chip_desc    = &pios_flash_chip_internal,
                .first_sector = 12,
                .last_sector  = 111,
                .chip_offset  = (12 * FLASH_SECTOR_1KB),
                .size         = (111 - 12 + 1) * FLASH_SECTOR_1KB,
        },

        {
                .label        = FLASH_PARTITION_LABEL_SETTINGS,
                .chip_desc    = &pios_flash_chip_internal,
                .first_sector = 112,
                .last_sector  = 127,
                .chip_offset  = (112 * FLASH_SECTOR_1KB),
                .size         = (127 - 112 + 1) * FLASH_SECTOR_1KB,
        },
};

const struct pios_flash_partition * PIOS_BOARD_HW_DEFS_GetPartitionTable (uint32_t board_revision, uint32_t * num_partitions)
{
        PIOS_Assert(num_partitions);

        *num_partitions = NELEMENTS(pios_flash_partition_table);
        return pios_flash_partition_table;
}

#endif  /* PIOS_INCLUDE_FLASH */