LibrePilot/flight/targets/boards/coptercontrol/pios_board.h

/**
 ******************************************************************************
 *
 * @file       pios_board.h
 * @author     The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015.
 *             The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
 *
 * @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 PIOS_BOARD_H
#define PIOS_BOARD_H
// ------------------------
// Timers and Channels Used
// ------------------------
/*
   Timer | Channel 1 | Channel 2 | Channel 3 | Channel 4
   ------+-----------+-----------+-----------+----------
   TIM1  |  Servo 4  |           |           |
   TIM2  |  RC In 5  |  RC In 6  |  Servo 6  |
   TIM3  |  Servo 5  |  RC In 2  |  RC In 3  |  RC In 4
   TIM4  |  RC In 1  |  Servo 3  |  Servo 2  |  Servo 1
   ------+-----------+-----------+-----------+----------
 */

// ------------------------
// DMA Channels Used
// ------------------------
/* Channel 1  -                                 */
/* Channel 2  -                                 */
/* Channel 3  -                                 */
/* Channel 4  -                                 */
/* Channel 5  -                                 */
/* 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

// ------------------------
// WATCHDOG_SETTINGS
// ------------------------
#define PIOS_WATCHDOG_TIMEOUT    250
#define PIOS_WDG_REGISTER        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_AUTOTUNE        0x0010

// ------------------------
// TELEMETRY
// ------------------------
#define TELEM_QUEUE_SIZE         10

// ------------------------
// PIOS_LED
// ------------------------
#define PIOS_LED_HEARTBEAT       0

// -------------------------
// System Settings
// -------------------------
#define PIOS_MASTER_CLOCK        72000000
#define PIOS_PERIPHERAL_CLOCK    (PIOS_MASTER_CLOCK / 2)

// -------------------------
// 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_I2C
// See also pios_board.c
// ------------------------
#define PIOS_I2C_MAX_DEVS        1
extern uint32_t pios_i2c_flexi_adapter_id;
#define PIOS_I2C_MAIN_ADAPTER    (pios_i2c_flexi_adapter_id)
#define PIOS_I2C_ESC_ADAPTER     (pios_i2c_flexi_adapter_id)
#define PIOS_I2C_BMP085_ADAPTER  (pios_i2c_flexi_adapter_id)

// ------------------------
// PIOS_BMP085
// ------------------------
#define PIOS_BMP085_OVERSAMPLING 3

// -------------------------
// SPI
//
// See also pios_board.c
// -------------------------
#define PIOS_SPI_MAX_DEVS   2

// -------------------------
// PIOS_USART
// -------------------------
#define PIOS_USART_MAX_DEVS 2

// -------------------------
// PIOS_COM
//
// See also pios_board.c
// -------------------------
#define PIOS_COM_MAX_DEVS  3

extern uint32_t pios_com_telem_rf_id;
#define PIOS_COM_TELEM_RF  (pios_com_telem_rf_id)

#if defined(PIOS_INCLUDE_GPS)
extern uint32_t pios_com_gps_id;
#define PIOS_COM_GPS       (pios_com_gps_id)
#endif /* PIOS_INCLUDE_GPS */

extern uint32_t pios_com_bridge_id;
#define PIOS_COM_BRIDGE    (pios_com_bridge_id)

extern uint32_t pios_com_vcp_id;
#define PIOS_COM_VCP       (pios_com_vcp_id)

extern uint32_t pios_com_telem_usb_id;
#define PIOS_COM_TELEM_USB (pios_com_telem_usb_id)

#if defined(PIOS_INCLUDE_DEBUG_CONSOLE)
extern uint32_t pios_com_debug_id;
#define PIOS_COM_DEBUG     (pios_com_debug_id)
#endif /* PIOS_INCLUDE_DEBUG_CONSOLE */

extern uint32_t pios_com_hkosd_id;
#define PIOS_COM_OSDHK     (pios_com_hkosd_id)

// -------------------------
// ADC
// PIOS_ADC_PinGet(0) = Gyro Z
// PIOS_ADC_PinGet(1) = Gyro Y
// PIOS_ADC_PinGet(2) = Gyro X
// -------------------------
// #define PIOS_ADC_OVERSAMPLING_RATE		1
#define PIOS_ADC_USE_TEMP_SENSOR         1
#define PIOS_ADC_TEMP_SENSOR_ADC         ADC1
#define PIOS_ADC_TEMP_SENSOR_ADC_CHANNEL 1

#define PIOS_ADC_PIN1_GPIO_PORT          GPIOA                   // PA4 (Gyro X)
#define PIOS_ADC_PIN1_GPIO_PIN           GPIO_Pin_4              // ADC12_IN4
#define PIOS_ADC_PIN1_GPIO_CHANNEL       ADC_Channel_4
#define PIOS_ADC_PIN1_ADC                ADC2
#define PIOS_ADC_PIN1_ADC_NUMBER         1

#define PIOS_ADC_PIN2_GPIO_PORT          GPIOA                   // PA5 (Gyro Y)
#define PIOS_ADC_PIN2_GPIO_PIN           GPIO_Pin_5              // ADC123_IN5
#define PIOS_ADC_PIN2_GPIO_CHANNEL       ADC_Channel_5
#define PIOS_ADC_PIN2_ADC                ADC1
#define PIOS_ADC_PIN2_ADC_NUMBER         2

#define PIOS_ADC_PIN3_GPIO_PORT          GPIOA                   // PA3 (Gyro Z)
#define PIOS_ADC_PIN3_GPIO_PIN           GPIO_Pin_3              // ADC12_IN3
#define PIOS_ADC_PIN3_GPIO_CHANNEL       ADC_Channel_3
#define PIOS_ADC_PIN3_ADC                ADC2
#define PIOS_ADC_PIN3_ADC_NUMBER         2

#define PIOS_ADC_NUM_PINS                3

#define PIOS_ADC_PORTS                   { PIOS_ADC_PIN1_GPIO_PORT, PIOS_ADC_PIN2_GPIO_PORT, PIOS_ADC_PIN3_GPIO_PORT }
#define PIOS_ADC_PINS                    { PIOS_ADC_PIN1_GPIO_PIN, PIOS_ADC_PIN2_GPIO_PIN, PIOS_ADC_PIN3_GPIO_PIN }
#define PIOS_ADC_CHANNELS                { PIOS_ADC_PIN1_GPIO_CHANNEL, PIOS_ADC_PIN2_GPIO_CHANNEL, PIOS_ADC_PIN3_GPIO_CHANNEL }
#define PIOS_ADC_MAPPING                 { PIOS_ADC_PIN1_ADC, PIOS_ADC_PIN2_ADC, PIOS_ADC_PIN3_ADC }
#define PIOS_ADC_CHANNEL_MAPPING         { PIOS_ADC_PIN1_ADC_NUMBER, PIOS_ADC_PIN2_ADC_NUMBER, PIOS_ADC_PIN3_ADC_NUMBER }
#define PIOS_ADC_NUM_CHANNELS            (PIOS_ADC_NUM_PINS + PIOS_ADC_USE_TEMP_SENSOR)
#define PIOS_ADC_NUM_ADC_CHANNELS        2
#define PIOS_ADC_USE_ADC2                1
#define PIOS_ADC_CLOCK_FUNCTION          RCC_APB2PeriphClockCmd(RCC_APB2Periph_ADC1 | RCC_APB2Periph_ADC2, ENABLE)
#define PIOS_ADC_ADCCLK                  RCC_PCLK2_Div8
/* RCC_PCLK2_Div2: ADC clock = PCLK2/2 */
/* RCC_PCLK2_Div4: ADC clock = PCLK2/4 */
/* RCC_PCLK2_Div6: ADC clock = PCLK2/6 */
/* RCC_PCLK2_Div8: ADC clock = PCLK2/8 */
#define PIOS_ADC_SAMPLE_TIME             ADC_SampleTime_239Cycles5
/* Sample time: */
/* With an ADCCLK = 14 MHz and a sampling time of 239.5 cycles: */
/* Tconv = 239.5 + 12.5 = 252 cycles = 18<31>s */
/* (1 / (ADCCLK / CYCLES)) = Sample Time (<28>S) */
#define PIOS_ADC_IRQ_PRIO                PIOS_IRQ_PRIO_LOW

// Currently analog acquistion hard coded at 480 Hz
// PCKL2 = HCLK / 16
// ADCCLK = PCLK2 / 2
#define PIOS_ADC_RATE                    (72.0e6f / 1.0f / 8.0f / 252.0f / (PIOS_ADC_NUM_CHANNELS >> PIOS_ADC_USE_ADC2))
#define PIOS_ADC_MAX_OVERSAMPLING        48

#define PIOS_ADC_TEMPERATURE_PIN         0

// ------------------------
// 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          6

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

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

//-------------------------
// Receiver HSUM input
//-------------------------
#define PIOS_HOTT_MAX_DEVS			1
#define PIOS_HOTT_NUM_INPUTS		32

// -------------------------
// Receiver Multiplex SRXL input
// -------------------------
#define PIOS_SRXL_MAX_DEVS           1
#define PIOS_SRXL_NUM_INPUTS         16

// -------------------------
// 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 */
#define PIOS_SERVO_BANKS             6

// --------------------------
// Timer controller settings
// --------------------------
#define PIOS_TIM_MAX_DEVS            3

// -------------------------
// GPIO
// -------------------------
#define PIOS_GPIO_PORTS              {}
#define PIOS_GPIO_PINS               {}
#define PIOS_GPIO_CLKS               {}
#define PIOS_GPIO_NUM                0

// -------------------------
// USB
// -------------------------
#define PIOS_USB_HID_MAX_DEVS        1

#define PIOS_USB_ENABLED             1
#define PIOS_USB_DETECT_GPIO_PORT    GPIOC
#define PIOS_USB_MAX_DEVS            1
#define PIOS_USB_DETECT_GPIO_PIN     GPIO_Pin_15

#endif /* PIOS_BOARD_H */