void dma1_channel6_isr()
{
if (state == ADC_WORKING)
state = ADC_CH6_DONE;
else if (state == ADC_CH5_DONE)
dma_complete();
else
cm3_assert(0);
}
void gps_init()
{
int ok;
calculate_crc_and_ack(set_navmode, sizeof(set_navmode));
cm3_assert(set_navmode[sizeof(set_navmode) - 2] == 94);
cm3_assert(set_navmode[sizeof(set_navmode) - 1] == 235);
cm3_assert(expect_ack[8] == 49);
cm3_assert(expect_ack[9] == 89);
gpio_set_mode(GPIOA, GPIO_MODE_OUTPUT_50_MHZ,
GPIO_CNF_OUTPUT_ALTFN_PUSHPULL, GPIO2);
gpio_set_mode(GPIOA, GPIO_MODE_INPUT,
GPIO_CNF_INPUT_PULL_UPDOWN, GPIO3);
usart_set_baudrate(USART2, 9600);
usart_set_databits(USART2, 8);
usart_set_stopbits(USART2, USART_STOPBITS_1);
usart_set_mode(USART2, USART_MODE_TX);
usart_set_parity(USART2, USART_PARITY_NONE);
usart_set_flow_control(USART2, USART_FLOWCONTROL_NONE);
usart_enable(USART2);
timer_reset(TIM5);
timer_set_mode(TIM5, TIM_CR1_CKD_CK_INT,
TIM_CR1_CMS_EDGE, TIM_CR1_DIR_UP);
/* 2Hz */
timer_set_prescaler(TIM5, 640);
timer_set_period(TIM5, 28125);
ok = silence_nmea();
if (!ok) goto bail;
ok = command(set_port, sizeof(set_port));
if (!ok) goto bail;
bail:
asm("nop");
}
void bsp_init(void)
{
cm3_assert(!is_initialized);
// Main clock setup
rcc_clock_setup_in_hsi48_out_48mhz();
led_init();
comm_init();
is_initialized = true;
}
void dma1_channel4_isr()
{
cm3_assert(state == READING);
deselect_slave();
/* Data is in bytes 1, 3, 5, 7 */
rxbuf[0] = rxbuf[1];
rxbuf[1] = rxbuf[3];
rxbuf[2] = rxbuf[5];
rxbuf[3] = rxbuf[7];
debug("baro: %i %i %i %i\n", rxbuf[0], rxbuf[1], rxbuf[2], rxbuf[3]);
/* Assume that all zeros is implausible: */
if ((rxbuf[0] | rxbuf[1] | rxbuf[2] | rxbuf[3]) == 0)
bad_thing_set(BARO_FAIL);
else
bad_thing_clear(BARO_FAIL);
state = IDLE;
}
void tim4_isr()
{
timer_clear_flag(TIM4, TIM_SR_UIF);
cm3_assert(state == IDLE);
state = READING;
select_slave();
dma_clear_interrupt_flags(DMA1, DMA_CHANNEL1, 0xf);
dma_clear_interrupt_flags(DMA1, DMA_CHANNEL2, 0xf);
dma_set_memory_address(DMA1, DMA_CHANNEL1, (uint32_t) txstr);
dma_set_number_of_data(DMA1, DMA_CHANNEL1, 10);
dma_set_memory_address(DMA1, DMA_CHANNEL2, (uint32_t) rxbuf);
dma_set_number_of_data(DMA1, DMA_CHANNEL2, 10);
spi_enable_tx_dma(SPI2);
spi_enable_rx_dma(SPI2);
dma_enable_channel(DMA1, DMA_CHANNEL1);
dma_enable_channel(DMA1, DMA_CHANNEL2);
}
static void assert_idle()
{
cm3_assert(SPI2_SR & SPI_SR_TXE);
cm3_assert(!(SPI2_SR & SPI_SR_RXNE));
}
void bsp_led_toggle(enum board_led led)
{
cm3_assert(is_initialized);
gpio_toggle(GPIOC, led_pin_lut[led]);
}
void bsp_led_off(enum board_led led)
{
cm3_assert(is_initialized);
gpio_clear(GPIOC, led_pin_lut[led]);
}
bool bsp_led_get_state(enum board_led led)
{
cm3_assert(is_initialized);
return gpio_get(GPIOC, led_pin_lut[led]);
}
