LibrePilot/flight/PiOS/inc/pios_board.h

/**
 ******************************************************************************
 *
 * @file       pios_board.h   
 * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2009.   
 * @brief      Defines board hardware for the OpenPilot Version 0.1 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


//------------------------
// DMA Channels Used
//------------------------
/* Channel 1  - 			*/
/* Channel 2  - SPI1 (SPI_SD_RX)	*/
/* Channel 3  - SPI1 (SPI_SD_TX)	*/
/* Channel 4  - 			*/
/* Channel 5  - 			*/
/* Channel 6  - 			*/
/* Channel 7  - 			*/
/* Channel 8  - 			*/

/* Channel 9  - 			*/
/* Channel 10 - 			*/
/* Channel 11 - 			*/
/* Channel 12 - 			*/

//------------------------
// Leds Definition   
//------------------------
#define LED1_GPIO_PORT			GPIOC
#define LED1_GPIO_PIN			GPIO_Pin_12
#define LED1_GPIO_CLK			RCC_APB2Periph_GPIOC
#define LED2_GPIO_PORT			GPIOC
#define LED2_GPIO_PIN			GPIO_Pin_13
#define LED2_GPIO_CLK			RCC_APB2Periph_GPIOC
#define NUM_LED				2

//------------------------
// I2C   
//------------------------
#define I2C_GPIO_PORT			GPIOB
#define I2C_SDA_PIN			GPIO_Pin_11
#define I2C_SCL_PIN			GPIO_Pin_10
#define I2C_DUTY_CYCLE			I2C_DutyCycle_2
#define I2C_BUS_FREQUENCY		400000
#define I2C_TIMEOUT_VALUE		5000
#define IRQ_I2C_EV_PRIORITY		2
#define IRQ_I2C_ER_PRIORITY		2

//------------------------
// Onboard Pressure sensor   
//------------------------
#define BMP085_EOC_GPIO_PORT		GPIOC
#define BMP085_EOC_GPIO_PIN		GPIO_Pin_15
#define BMP085_EOC_PORT_SOURCE		GPIO_PortSourceGPIOG
#define BMP085_EOC_PIN_SOURCE		GPIO_PinSource8
#define BMP085_EOC_CLK			RCC_APB2Periph_GPIOC
#define BMP085_EOC_EXTI_LINE		EXTI_Line15
#define BMP085_EOC_IRQn			EXTI15_10_IRQn

/* Unused, repurpose PA1 as another ADC input?
#define BMP085_XCLR_GPIO_PORT		GPIOA
#define BMP085_XCLR_GPIO_PIN		GPIO_Pin_1
*/

//-------------------------
// GPS USART 
//-------------------------
#define GPS_USART			USART2
#define GPS_BAUD			57600
#define GPS_GPIO_PORT			GPIOA
#define GPS_RX_PIN			GPIO_Pin_3
#define GPS_TX_PIN			GPIO_Pin_2
#define GPS_REMAP_FUNC			{ }
#define GPS_IRQ_CHANNEL			USART2_IRQn
#define GPS_IRQHANDLER_FUNC		void USART2_IRQHandler(void)
#define GPS_CLK_FUNC			RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART2, ENABLE)
#define GPS_NVIC_PRIO			IRQ_PRIO_HIGHEST

//-------------------------
// Telemetry radio USART 
//-------------------------
#define TELEM_USART        		USART3
#define TELEM_BAUD         		115200
#define TELEM_GPIO_PORT         	GPIOC
#define TELEM_RX_PIN      		GPIO_Pin_11
#define TELEM_TX_PIN      		GPIO_Pin_10
#define TELEM_REMAP_FUNC		{ GPIO_PinRemapConfig(GPIO_PartialRemap_USART3, ENABLE); }
#define TELEM_IRQ_CHANNEL		USART3_IRQn
#define TELEM_IRQHANDLER_FUNC		void USART3_IRQHandler(void)
#define TELEM_CLK_FUNC			RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART3, ENABLE)
#define TELEM_NVIC_PRIO			IRQ_PRIO_HIGHEST

//-------------------------
// AUXSER USART (available instead of RX5/RX6)
//-------------------------
#define AUX_USART_BAUD			19200
#define AUX_USART_USART			USART1
#define AUX_USART_GPIO_PORT		GPIOA
#define AUX_USART_RX_PIN		GPIO_Pin_10
#define AUX_USART_TX_PIN		GPIO_Pin_9
#define AUX_USART_REMAP_FUNC		{ }
#define AUX_USART_IRQ_CHANNEL		USART1_IRQn
#define AUX_USART_IRQHANDLER_FUNC	void USART1_IRQHandler(void)
#define AUX_USART_CLK_FUNC		RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1, ENABLE)
#define AUX_USART_NVIC_PRIO		IRQ_PRIO_HIGH

//-------------------------
// USART Serial Ports
//-------------------------
#define USART_NUM			3
#define USART_RX_BUFFER_SIZE		1024
#define USART_TX_BUFFER_SIZE		256
#define COM_DEBUG_PORT			TELEM

//-------------------------
// Receiver PWM inputs   
//-------------------------
#define RECEIVER1_GPIO_PORT		GPIOB
#define RECEIVER1_PIN			GPIO_Pin_2      // PB2
#define RECEIVER1_TIM_PORT		TIM3
#define RECEIVER1_CH			TIM_Channel_3   // TIM3_CH3
#define RECEIVER2_GPIO_PORT		GPIOB
#define RECEIVER2_PIN			GPIO_Pin_1      // PB1
#define RECEIVER2_TIM_PORT		TIM3
#define RECEIVER2_CH			TIM_Channel_4   // TIM3_CH4
#define RECEIVER3_GPIO_PORT		GPIOA
#define RECEIVER3_PIN			GPIO_Pin_8      // PA8
#define RECEIVER3_TIM_PORT		TIM1
#define RECEIVER3_CH			TIM_Channel_1   // TIM1_CH1
#define RECEIVER4_GPIO_PORT		GPIOA
#define RECEIVER4_PIN			GPIO_Pin_0      // PA0
#define RECEIVER4_TIM_PORT		TIM5
#define RECEIVER4_CH			TIM_Channel_1   // TIM5_CH1
#define RECEIVER5_GPIO_PORT		GPIOA
#define RECEIVER5_PIN			GPIO_Pin_10     // PA10
#define RECEIVER5_TIM_PORT		TIM1
#define RECEIVER5_CH			TIM_Channel_3   // TIM1_CH3
#define RECEIVER6_GPIO_PORT		GPIOA
#define RECEIVER6_PIN			GPIO_Pin_9      // PA9
#define RECEIVER6_TIM_PORT		TIM1
#define RECEIVER6_CH			TIM_Channel_2   // TIM1_CH2

/* Not used in v0.1 HW
#define RECEIVER7_GPIO_PORT		GPIOB
#define RECEIVER7_PIN			GPIO_Pin_4      // PB4
#define RECEIVER7_TIM_PORT		TIM3
#define RECEIVER7_CH			TIM_Channel_1   // TIM3_CH1
#define RECEIVER8_GPIO_PORT		GPIOB
#define RECEIVER8_PIN			GPIO_Pin_5      // PB5
#define RECEIVER8_TIM_PORT		TIM3
#define RECEIVER8_CH			TIM_Channel_2   // TIM3_CH2
*/

#define NUM_RECEIVER_INPUTS		6

//-------------------------
// Servo outputs   
//-------------------------
#define SERVO1TO4_PORT			GPIOB
#define SERVO1_PIN			GPIO_Pin_6
#define SERVO2_PIN			GPIO_Pin_7
#define SERVO3_PIN			GPIO_Pin_8
#define SERVO4_PIN			GPIO_Pin_9
#define SERVO5TO8_PORT			GPIOC
#define SERVO5_PIN			GPIO_Pin_6
#define SERVO6_PIN			GPIO_Pin_7
#define SERVO7_PIN			GPIO_Pin_8
#define SERVO8_PIN			GPIO_Pin_9
#define NUM_SERVO_OUTPUTS		8

//-------------------------
// ADC
//-------------------------
#define ADC_GPIO_PORT			GPIOC  
#define ADC_Z_PIN			GPIO_Pin_0	// ADC123_IN10
#define ADC_A_PIN			GPIO_Pin_1	// ADC123_IN11
#define ADC_B_PIN			GPIO_Pin_2	// ADC123_IN12
#define ADC_Z_CHANNEL			ADC_Channel_10
#define ADC_A_CHANNEL			ADC_Channel_11
#define ADC_B_CHANNEL			ADC_Channel_12
#define NUM_ADC_PINS			4		// 3 but actually 4 because of temp sensor
#define ADC_IRQ_PRIO			IRQ_PRIO_HIGH

//-------------------------  
// USB
//-------------------------
#define USB_ACC_GPIO_PORT		GPIOC
#define USB_DETECT_PIN			GPIO_Pin_4
#define USB_PULLUP_PIN			GPIO_Pin_14

//-------------------------
// Delay Timer    
//-------------------------
#define PIOS_DELAY_TIMER		TIM2
#define PIOS_DELAY_TIMER_RCC	RCC_APB1Periph_TIM2

//-------------------------
// Master Clock   
//-------------------------
#define MASTER_CLOCK			72000000
#define PERIPHERAL_CLOCK		(MASTER_CLOCK/2)

//-------------------------
// Interrupt Priorities
//-------------------------
#define IRQ_PRIO_LOW			12		// lower than RTOS
#define IRQ_PRIO_MID			8		// higher than RTOS
#define IRQ_PRIO_HIGH			5		// for SPI, ADC, I2C etc...
#define IRQ_PRIO_HIGHEST		4 		// for USART etc...

#endif /* PIOS_BOARD_H */