LibrePilot/flight/PiOS/Boards/STM32F4xx_RevoMini.h

/**
 ******************************************************************************
 * @addtogroup OpenPilotSystem OpenPilot System
 * @{
 * @addtogroup OpenPilotCore OpenPilot Core
 * @{
 * @file       pios_board.h
 * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
 * @brief      Defines board hardware for the OpenPilot Version 1.1 hardware.
 * @see        The GNU Public License (GPL) Version 3
 *
 *****************************************************************************/
/*
 * This program is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
 * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
 * for more details.
 *
 * You should have received a copy of the GNU General Public License along
 * with this program; if not, write to the Free Software Foundation, Inc.,
 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
 */


#ifndef STM3210E_INS_H_

#include <stdbool.h>

#define DEBUG_LEVEL 0
#define DEBUG_PRINTF(level, ...) {if(level <= DEBUG_LEVEL && pios_com_aux_id > 0) { PIOS_COM_SendFormattedStringNonBlocking(pios_com_aux_id, __VA_ARGS__); }}

//------------------------
// Timers and Channels Used
//------------------------
/*
Timer | Channel 1 | Channel 2 | Channel 3 | Channel 4
------+-----------+-----------+-----------+----------
TIM1  |           |           |           |
TIM2  | --------------- PIOS_DELAY -----------------
TIM3  |           |           |           |
TIM4  |           |           |           |
TIM5  |           |           |           |
TIM6  |           |           |           |
TIM7  |           |           |           |
TIM8  |           |           |           |
------+-----------+-----------+-----------+----------
*/

//------------------------
// DMA Channels Used
//------------------------
/* Channel 1  -                                 */
/* Channel 2  - SPI1 RX                         */
/* Channel 3  - SPI1 TX                         */
/* Channel 4  - SPI2 RX                         */
/* Channel 5  - SPI2 TX                         */
/* Channel 6  -                                 */
/* Channel 7  -                                 */
/* Channel 8  -                                 */
/* Channel 9  -                                 */
/* Channel 10 -                                 */
/* Channel 11 -                                 */
/* Channel 12 -                                 */

//------------------------
// BOOTLOADER_SETTINGS
//------------------------
#define BOARD_READABLE	true
#define BOARD_WRITABLE	true
#define MAX_DEL_RETRYS	3


//------------------------
// PIOS_LED
//------------------------
#define PIOS_LED_HEARTBEAT	0
#define PIOS_LED_ALARM		1

//------------------------
// PIOS_SPI
// See also pios_board.c
//------------------------
#define PIOS_SPI_MAX_DEVS        3

//------------------------
// PIOS_WDG
//------------------------
#define PIOS_WATCHDOG_TIMEOUT    250
#define PIOS_WDG_REGISTER        RTC_BKP_DR4
#define PIOS_WDG_ACTUATOR        0x0001
#define PIOS_WDG_STABILIZATION   0x0002
#define PIOS_WDG_ATTITUDE        0x0004
#define PIOS_WDG_MANUAL          0x0008
#define PIOS_WDG_SENSORS         0x0010

//------------------------
// PIOS_I2C
// See also pios_board.c
//------------------------
#define PIOS_I2C_MAX_DEVS			3
extern uint32_t pios_i2c_mag_pressure_adapter_id;
#define PIOS_I2C_MAIN_ADAPTER			(pios_i2c_mag_pressure_adapter_id)
extern uint32_t pios_i2c_flexiport_adapter_id;
#define PIOS_I2C_FLEXI_ADAPTER			(pios_i2c_flexiport_adapter_id)
#define PIOS_I2C_ETASV3_ADAPTER			(PIOS_I2C_FLEXI_ADAPTER)

//-------------------------
// PIOS_USART
//
// See also pios_board.c
//-------------------------
#define PIOS_USART_MAX_DEVS             5

//-------------------------
// PIOS_COM
//
// See also pios_board.c
//-------------------------
#define PIOS_COM_MAX_DEVS               4
extern uint32_t pios_com_telem_rf_id;
extern uint32_t pios_com_gps_id;
extern uint32_t pios_com_aux_id;
extern uint32_t pios_com_telem_usb_id;
extern uint32_t pios_com_bridge_id;
extern uint32_t pios_com_vcp_id;
#define PIOS_COM_AUX                    (pios_com_aux_id)
#define PIOS_COM_GPS                    (pios_com_gps_id)
#define PIOS_COM_TELEM_USB              (pios_com_telem_usb_id)
#define PIOS_COM_TELEM_RF               (pios_com_telem_rf_id)
#define PIOS_COM_BRIDGE                 (pios_com_bridge_id)
#define PIOS_COM_VCP                    (pios_com_vcp_id)
#define PIOS_COM_DEBUG                  PIOS_COM_AUX
#if defined(PIOS_INCLUDE_RFM22B)
#define PIOS_COM_RFM22B_RF_RX_BUF_LEN 512
#define PIOS_COM_RFM22B_RF_TX_BUF_LEN 512
extern uint32_t pios_com_rfm22b_id;
#define PIOS_COM_RADIO                  (pios_com_rfm22b_id)
extern uint32_t pios_spi_telem_flash_id;
#define PIOS_RFM22_SPI_PORT             (pios_spi_telem_flash_id)
#endif /* PIOS_INCLUDE_RFM22B */

//-------------------------
// Packet Handler
//-------------------------
#define RS_ECC_NPARITY 4
#define PIOS_PH_MAX_PACKET 255
#define PIOS_PH_WIN_SIZE 3
#define PIOS_PH_MAX_CONNECTIONS 1
extern uint32_t pios_packet_handler;
#define PIOS_PACKET_HANDLER (pios_packet_handler)

//------------------------
// TELEMETRY 
//------------------------
#define TELEM_QUEUE_SIZE         80
#define PIOS_TELEM_STACK_SIZE    624

//-------------------------
// System Settings
// 
// See also System_stm32f4xx.c
//-------------------------
//These macros are deprecated
//please use PIOS_PERIPHERAL_APBx_CLOCK According to the table below
//#define PIOS_MASTER_CLOCK                       
//#define PIOS_PERIPHERAL_CLOCK                   
//#define PIOS_PERIPHERAL_CLOCK							

#define PIOS_SYSCLK										168000000
//	Peripherals that belongs to APB1 are:
//	DAC			|PWR				|CAN1,2
//	I2C1,2,3		|UART4,5			|USART3,2
//	I2S3Ext		|SPI3/I2S3		|SPI2/I2S2
//	I2S2Ext		|IWDG				|WWDG
//	RTC/BKP reg	
// TIM2,3,4,5,6,7,12,13,14

// Calculated as SYSCLK / APBPresc * (APBPre == 1 ? 1 : 2)   
// Default APB1 Prescaler = 4 
#define PIOS_PERIPHERAL_APB1_CLOCK					(PIOS_SYSCLK / 2)

//	Peripherals belonging to APB2
//	SDIO			|EXTI				|SYSCFG			|SPI1
//	ADC1,2,3				
//	USART1,6
//	TIM1,8,9,10,11
//
// Default APB2 Prescaler = 2
//
#define PIOS_PERIPHERAL_APB2_CLOCK					PIOS_SYSCLK


//-------------------------
// Interrupt Priorities
//-------------------------
#define PIOS_IRQ_PRIO_LOW                       12              // lower than RTOS
#define PIOS_IRQ_PRIO_MID                       8               // higher than RTOS
#define PIOS_IRQ_PRIO_HIGH                      5               // for SPI, ADC, I2C etc...
#define PIOS_IRQ_PRIO_HIGHEST                   4               // for USART etc...

//------------------------
// PIOS_RCVR
// See also pios_board.c
//------------------------
#define PIOS_RCVR_MAX_DEVS           3
#define PIOS_RCVR_MAX_CHANNELS       12
#define PIOS_GCSRCVR_TIMEOUT_MS      100

//-------------------------
// Receiver PPM input
//-------------------------
#define PIOS_PPM_MAX_DEVS            1
#define PIOS_PPM_NUM_INPUTS          12

//-------------------------
// Receiver PWM input
//-------------------------
#define PIOS_PWM_MAX_DEVS            1
#define PIOS_PWM_NUM_INPUTS          8

//-------------------------
// Receiver SPEKTRUM input
//-------------------------
#define PIOS_SPEKTRUM_MAX_DEVS       2
#define PIOS_SPEKTRUM_NUM_INPUTS     12

//-------------------------
// Receiver S.Bus input
//-------------------------
#define PIOS_SBUS_MAX_DEVS           1
#define PIOS_SBUS_NUM_INPUTS         (16+2)

//-------------------------
// Receiver DSM input
//-------------------------
#define PIOS_DSM_MAX_DEVS			2
#define PIOS_DSM_NUM_INPUTS			12

//-------------------------
// Servo outputs
//-------------------------
#define PIOS_SERVO_UPDATE_HZ                    50
#define PIOS_SERVOS_INITIAL_POSITION            0 /* dont want to start motors, have no pulse till settings loaded */

//--------------------------
// Timer controller settings
//--------------------------
#define PIOS_TIM_MAX_DEVS			6

//-------------------------
// ADC
// PIOS_ADC_PinGet(0) = Current sensor
// PIOS_ADC_PinGet(1) = Voltage sensor
// PIOS_ADC_PinGet(4) = VREF
// PIOS_ADC_PinGet(5) = Temperature sensor
//-------------------------
#define PIOS_DMA_PIN_CONFIG                                                                 \
{                                                                                           \
	{GPIOC, GPIO_Pin_1,     ADC_Channel_11},                                                \
	{GPIOC, GPIO_Pin_2,     ADC_Channel_12},                                                \
	{NULL,  0,              ADC_Channel_Vrefint},           /* Voltage reference */         \
	{NULL,  0,              ADC_Channel_TempSensor},        /* Temperature sensor */        \
	{GPIOC, GPIO_Pin_2,     ADC_Channel_12}  \
}

/* we have to do all this to satisfy the PIOS_ADC_MAX_SAMPLES define in pios_adc.h */
/* which is annoying because this then determines the rate at which we generate buffer turnover events */
/* the objective here is to get enough buffer space to support 100Hz averaging rate */
#define PIOS_ADC_NUM_CHANNELS           4
#define PIOS_ADC_MAX_OVERSAMPLING       2
#define PIOS_ADC_USE_ADC2               0
#define PIOS_ADC_VOLTAGE_SCALE 3.30/4096.0

//-------------------------
// USB
//-------------------------
#define PIOS_USB_MAX_DEVS                       1
#define PIOS_USB_ENABLED                        1 /* Should remove all references to this */
#define PIOS_USB_HID_MAX_DEVS                   1

#endif /* STM3210E_INS_H_ */
/**
 * @}
 * @}
 */