2010-08-04 11:37:09 +02:00
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/**
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******************************************************************************
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*
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* @file pios_board.h
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief Defines board hardware for the OpenPilot Version 1.1 hardware.
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#ifndef PIOS_BOARD_H
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#define PIOS_BOARD_H
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//------------------------
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// Timers and Channels Used
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//------------------------
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/*
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Timer | Channel 1 | Channel 2 | Channel 3 | Channel 4
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------+-----------+-----------+-----------+----------
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TIM1 | | | |
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TIM2 | --------------- PIOS_DELAY -----------------
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TIM3 | | | |
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TIM4 | | | |
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TIM5 | | | |
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TIM6 | | | |
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TIM7 | | | |
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TIM8 | | | |
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------+-----------+-----------+-----------+----------
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*/
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//------------------------
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// DMA Channels Used
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//------------------------
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/* Channel 1 - */
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/* Channel 2 - */
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/* Channel 3 - */
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/* Channel 4 - */
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/* Channel 5 - */
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/* Channel 6 - */
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/* Channel 7 - */
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/* Channel 8 - */
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/* Channel 9 - */
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/* Channel 10 - */
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/* Channel 11 - */
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/* Channel 12 - */
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//------------------------
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// PIOS_LED
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//------------------------
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2010-08-04 19:35:48 +02:00
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#define PIOS_LED_LED1_GPIO_PORT GPIOA // USB Activity LED
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2010-08-04 11:37:09 +02:00
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#define PIOS_LED_LED1_GPIO_PIN GPIO_Pin_3
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#define PIOS_LED_LED1_GPIO_CLK RCC_APB2Periph_GPIOA
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2010-08-04 19:35:48 +02:00
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#define PIOS_LED_LED2_GPIO_PORT GPIOB // LINK LED
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#define PIOS_LED_LED2_GPIO_PIN GPIO_Pin_5
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#define PIOS_LED_LED2_GPIO_CLK RCC_APB2Periph_GPIOB
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#define PIOS_LED_LED3_GPIO_PORT GPIOB // RX LED
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#define PIOS_LED_LED3_GPIO_PIN GPIO_Pin_6
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#define PIOS_LED_LED3_GPIO_CLK RCC_APB2Periph_GPIOB
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#define PIOS_LED_LED4_GPIO_PORT GPIOB // TX LED
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#define PIOS_LED_LED4_GPIO_PIN GPIO_Pin_7
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#define PIOS_LED_LED4_GPIO_CLK RCC_APB2Periph_GPIOB
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#define PIOS_LED_NUM 4
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#define PIOS_LED_PORTS { PIOS_LED_LED1_GPIO_PORT, PIOS_LED_LED2_GPIO_PORT, PIOS_LED_LED3_GPIO_PORT, PIOS_LED_LED4_GPIO_PORT }
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#define PIOS_LED_PINS { PIOS_LED_LED1_GPIO_PIN, PIOS_LED_LED2_GPIO_PIN, PIOS_LED_LED3_GPIO_PIN, PIOS_LED_LED4_GPIO_PIN }
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#define PIOS_LED_CLKS { PIOS_LED_LED1_GPIO_CLK, PIOS_LED_LED2_GPIO_CLK, PIOS_LED_LED3_GPIO_CLK, PIOS_LED_LED4_GPIO_CLK }
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2010-08-04 11:37:09 +02:00
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//-------------------------
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// Delay Timer
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//-------------------------
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#define PIOS_DELAY_TIMER TIM2
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#define PIOS_DELAY_TIMER_RCC_FUNC RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE)
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//-------------------------
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// System Settings
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//-------------------------
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#define PIOS_MASTER_CLOCK 72000000
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#define PIOS_PERIPHERAL_CLOCK (PIOS_MASTER_CLOCK / 2)
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#if defined(USE_BOOTLOADER)
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#define PIOS_NVIC_VECTTAB_FLASH ((uint32_t)0x08006000)
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#else
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#define PIOS_NVIC_VECTTAB_FLASH ((uint32_t)0x08000000)
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#endif
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//-------------------------
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// Interrupt Priorities
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//-------------------------
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#define PIOS_IRQ_PRIO_LOW 12 // lower than RTOS
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#define PIOS_IRQ_PRIO_MID 8 // higher than RTOS
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#define PIOS_IRQ_PRIO_HIGH 5 // for SPI, ADC, I2C etc...
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#define PIOS_IRQ_PRIO_HIGHEST 4 // for USART etc...
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//-------------------------
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// SPI
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//
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// See also pios_board.c
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//-------------------------
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2010-08-21 19:14:34 +02:00
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#define PIOS_SPI_PERIF 0
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//-------------------------
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// PIOS_USART
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//-------------------------
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#define PIOS_USART_RX_BUFFER_SIZE 256
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#define PIOS_USART_TX_BUFFER_SIZE 256
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#define PIOS_COM_COM 0
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#define PIOS_COM_DEBUG PIOS_COM_COM
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2010-08-04 11:37:09 +02:00
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#if 0
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//-------------------------
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// ADC
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// PIOS_ADC_PinGet(0) = Accel Z
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// PIOS_ADC_PinGet(1) =
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// PIOS_ADC_PinGet(2) =
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// PIOS_ADC_PinGet(3) =
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// PIOS_ADC_PinGet(4) = Accel ?
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// PIOS_ADC_PinGet(5) =
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// PIOS_ADC_PinGet(6) =
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// PIOS_ADC_PinGet(7) =
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//-------------------------
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//#define PIOS_ADC_OVERSAMPLING_RATE 1
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#define PIOS_ADC_USE_TEMP_SENSOR 0
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#define PIOS_ADC_TEMP_SENSOR_ADC ADC1
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#define PIOS_ADC_TEMP_SENSOR_ADC_CHANNEL 1
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2010-08-21 19:14:34 +02:00
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#define PIOS_ADC_PIN1_GPIO_PORT GPIOB // PB1 (PSU Voltage)
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#define PIOS_ADC_PIN1_GPIO_PIN GPIO_Pin_1 // ADC12_IN9
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#define PIOS_ADC_PIN1_GPIO_CHANNEL ADC_Channel_9
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#define PIOS_ADC_PIN1_ADC ADC2
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#define PIOS_ADC_PIN1_ADC_NUMBER 4
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2010-08-04 19:35:48 +02:00
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#define PIOS_ADC_NUM_PINS 1
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2010-08-21 19:14:34 +02:00
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#define PIOS_ADC_PORTS { PIOS_ADC_PIN1_GPIO_PORT }
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#define PIOS_ADC_PINS { PIOS_ADC_PIN1_GPIO_PIN }
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#define PIOS_ADC_CHANNELS { PIOS_ADC_PIN1_GPIO_CHANNEL }
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#define PIOS_ADC_MAPPING { PIOS_ADC_PIN1_ADC }
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#define PIOS_ADC_CHANNEL_MAPPING { PIOS_ADC_PIN1_ADC_NUMBER }
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#define PIOS_ADC_NUM_CHANNELS (PIOS_ADC_NUM_PINS + PIOS_ADC_USE_TEMP_SENSOR)
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#define PIOS_ADC_NUM_ADC_CHANNELS 2
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#define PIOS_ADC_USE_ADC2 1
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#define PIOS_ADC_CLOCK_FUNCTION RCC_APB2PeriphClockCmd(RCC_APB2Periph_ADC1 | RCC_APB2Periph_ADC2, ENABLE)
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#define PIOS_ADC_ADCCLK RCC_PCLK2_Div8
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/* RCC_PCLK2_Div2: ADC clock = PCLK2/2 */
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/* RCC_PCLK2_Div4: ADC clock = PCLK2/4 */
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/* RCC_PCLK2_Div6: ADC clock = PCLK2/6 */
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/* RCC_PCLK2_Div8: ADC clock = PCLK2/8 */
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#define PIOS_ADC_SAMPLE_TIME ADC_SampleTime_239Cycles5
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/* Sample time: */
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/* With an ADCCLK = 14 MHz and a sampling time of 293.5 cycles: */
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/* Tconv = 239.5 + 12.5 = 252 cycles = 18<31>s */
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/* (1 / (ADCCLK / CYCLES)) = Sample Time (<28>S) */
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#define PIOS_ADC_IRQ_PRIO PIOS_IRQ_PRIO_HIGH
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#endif
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//-------------------------
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// ADC
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// PIOS_ADC_PinGet(0) = Accel Z
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// PIOS_ADC_PinGet(1) =
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// PIOS_ADC_PinGet(2) =
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// PIOS_ADC_PinGet(3) =
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// PIOS_ADC_PinGet(4) = Accel ?
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// PIOS_ADC_PinGet(5) =
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// PIOS_ADC_PinGet(6) =
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// PIOS_ADC_PinGet(7) =
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//-------------------------
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//#define PIOS_ADC_OVERSAMPLING_RATE 1
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#define PIOS_ADC_USE_TEMP_SENSOR 0
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#define PIOS_ADC_TEMP_SENSOR_ADC ADC1
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#define PIOS_ADC_TEMP_SENSOR_ADC_CHANNEL 1
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2010-08-21 19:14:34 +02:00
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#define PIOS_ADC_PIN1_GPIO_PORT GPIOB // PB1 (PSU Voltage)
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#define PIOS_ADC_PIN1_GPIO_PIN GPIO_Pin_1 // ADC12_IN9
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#define PIOS_ADC_PIN1_GPIO_CHANNEL ADC_Channel_9
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#define PIOS_ADC_PIN1_ADC ADC2
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#define PIOS_ADC_PIN1_ADC_NUMBER 4
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#define PIOS_ADC_NUM_PINS 1
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#define PIOS_ADC_PORTS { PIOS_ADC_PIN1_GPIO_PORT }
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#define PIOS_ADC_PINS { PIOS_ADC_PIN1_GPIO_PIN }
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#define PIOS_ADC_CHANNELS { PIOS_ADC_PIN1_GPIO_CHANNEL }
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#define PIOS_ADC_MAPPING { PIOS_ADC_PIN1_ADC }
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#define PIOS_ADC_CHANNEL_MAPPING { PIOS_ADC_PIN1_ADC_NUMBER }
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#define PIOS_ADC_NUM_CHANNELS (PIOS_ADC_NUM_PINS + PIOS_ADC_USE_TEMP_SENSOR)
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#define PIOS_ADC_NUM_ADC_CHANNELS 2
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#define PIOS_ADC_USE_ADC2 1
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#define PIOS_ADC_CLOCK_FUNCTION RCC_APB2PeriphClockCmd(RCC_APB2Periph_ADC1 | RCC_APB2Periph_ADC2, ENABLE)
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#define PIOS_ADC_ADCCLK RCC_PCLK2_Div8
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/* RCC_PCLK2_Div2: ADC clock = PCLK2/2 */
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/* RCC_PCLK2_Div4: ADC clock = PCLK2/4 */
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/* RCC_PCLK2_Div6: ADC clock = PCLK2/6 */
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/* RCC_PCLK2_Div8: ADC clock = PCLK2/8 */
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#define PIOS_ADC_SAMPLE_TIME ADC_SampleTime_239Cycles5
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/* Sample time: */
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/* With an ADCCLK = 14 MHz and a sampling time of 293.5 cycles: */
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/* Tconv = 239.5 + 12.5 = 252 cycles = 18<31>s */
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/* (1 / (ADCCLK / CYCLES)) = Sample Time (<28>S) */
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#define PIOS_ADC_IRQ_PRIO PIOS_IRQ_PRIO_HIGH
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//-------------------------
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// GPIO
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//-------------------------
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#define PIOS_GPIO_1_PORT GPIOB
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#define PIOS_GPIO_1_PIN GPIO_Pin_9
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#define PIOS_GPIO_1_GPIO_CLK RCC_APB2Periph_GPIOB
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#define PIOS_GPIO_PORTS { PIOS_GPIO_1_PORT }
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#define PIOS_GPIO_PINS { PIOS_GPIO_1_PIN }
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#define PIOS_GPIO_CLKS { PIOS_GPIO_1_GPIO_CLK }
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#define PIOS_GPIO_NUM 1
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2010-08-04 19:35:48 +02:00
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2010-08-04 11:37:09 +02:00
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#define SET_ACCEL_2G PIOS_GPIO_On(0);
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#define SET_ACCEL_6G PIOS_GPIO_Off(0)
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#endif /* PIOS_BOARD_H */
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