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

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/**
******************************************************************************
* @addtogroup OpenPilotSystem OpenPilot System
* @{
* @addtogroup OpenPilotCore OpenPilot Core
* @{
* @file pios_board.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
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* @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
*/
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#ifndef PIOS_BOARD_H
#define PIOS_BOARD_H
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#include <stdbool.h>
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// ------------------------
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// Timers and Channels Used
// ------------------------
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/*
Timer | Channel 1 | Channel 2 | Channel 3 | Channel 4
------+-----------+-----------+-----------+----------
TIM1 | | | |
TIM2 | --------------- PIOS_DELAY -----------------
TIM3 | | | |
TIM4 | | | |
TIM5 | | | |
TIM6 | | | |
TIM7 | | | |
TIM8 | | | |
------+-----------+-----------+-----------+----------
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*/
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// ------------------------
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// DMA Channels Used
// ------------------------
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/* 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 - */
// ------------------------
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// BOOTLOADER_SETTINGS
// ------------------------
#define BOARD_READABLE true
#define BOARD_WRITABLE true
#define MAX_DEL_RETRYS 3
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// ------------------------
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// PIOS_LED
// ------------------------
#define PIOS_LED_HEARTBEAT 0
#define PIOS_LED_ALARM 1
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// ------------------------
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// PIOS_SPI
// See also pios_board.c
// ------------------------
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#define PIOS_SPI_MAX_DEVS 3
extern uint32_t pios_spi_gyro_id;
extern uint32_t pios_spi_accel_id;
#define PIOS_SPI_L3GD20_ADAPTER (pios_spi_gyro_id)
#define PIOS_SPI_BMA180_ADAPTER (pios_spi_accel_id)
#define PIOS_SPI_MPU6000_ADAPTER (pios_spi_gyro_id)
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// ------------------------
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// PIOS_WDG
// ------------------------
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#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
#define PIOS_WDG_AUTOTUNE 0x0020
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// ------------------------
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// PIOS_I2C
// See also pios_board.c
// ------------------------
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#define PIOS_I2C_MAX_DEVS 3
extern uint32_t pios_i2c_mag_adapter_id;
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extern uint32_t pios_i2c_pressure_adapter_id;
#define PIOS_I2C_MS5611_INTERNAL_ADAPTER (pios_i2c_pressure_adapter_id)
#define PIOS_I2C_HMC5X83_INTERNAL_ADAPTER (pios_i2c_mag_adapter_id)
extern uint32_t pios_i2c_flexiport_adapter_id;
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#define PIOS_I2C_FLEXI_ADAPTER (pios_i2c_flexiport_adapter_id)
#define PIOS_I2C_ETASV3_ADAPTER (PIOS_I2C_FLEXI_ADAPTER)
#define PIOS_I2C_EXTERNAL_ADAPTER (pios_i2c_flexiport_adapter_id)
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// -------------------------
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// PIOS_USART
//
// See also pios_board.c
// -------------------------
#define PIOS_USART_MAX_DEVS 5
// Inverter for SBUS handling
#define PIOS_USART_INVERTER_PORT UART4
#define PIOS_USART_INVERTER_GPIO GPIOC
#define PIOS_USART_INVERTER_PIN GPIO_Pin_3
#define PIOS_USART_INVERTER_ENABLE Bit_SET
#define PIOS_USART_INVERTER_DISABLE Bit_RESET
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// -------------------------
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// PIOS_COM
//
// See also pios_board.c
// -------------------------
#define PIOS_COM_MAX_DEVS 4
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// ------------------------
// TELEMETRY
// ------------------------
#define TELEM_QUEUE_SIZE 80
#define PIOS_TELEM_STACK_SIZE 800
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// -------------------------
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// 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
// -------------------------
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// 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...
// ------------------------
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// PIOS_RCVR
// See also pios_board.c
// ------------------------
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#define PIOS_RCVR_MAX_DEVS 3
#define PIOS_RCVR_MAX_CHANNELS 12
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#define PIOS_GCSRCVR_TIMEOUT_MS 100
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// -------------------------
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// Receiver PPM input
// -------------------------
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#define PIOS_PPM_MAX_DEVS 1
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#define PIOS_PPM_NUM_INPUTS 16
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// -------------------------
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// Receiver PWM input
// -------------------------
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#define PIOS_PWM_MAX_DEVS 1
#define PIOS_PWM_NUM_INPUTS 8
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// -------------------------
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// Receiver SPEKTRUM input
// -------------------------
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#define PIOS_SPEKTRUM_MAX_DEVS 2
#define PIOS_SPEKTRUM_NUM_INPUTS 12
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// -------------------------
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// Receiver S.Bus input
// -------------------------
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#define PIOS_SBUS_MAX_DEVS 1
#define PIOS_SBUS_NUM_INPUTS (16 + 2)
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// -------------------------
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// Receiver DSM input
// -------------------------
#define PIOS_DSM_MAX_DEVS 2
#define PIOS_DSM_NUM_INPUTS 12
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// -------------------------
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// 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
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// --------------------------
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// Timer controller settings
// --------------------------
#define PIOS_TIM_MAX_DEVS 6
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// -------------------------
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// ADC
// PIOS_ADC_PinGet(0) = Current sensor
// PIOS_ADC_PinGet(1) = Voltage sensor
// PIOS_ADC_PinGet(2) = VREF
// PIOS_ADC_PinGet(3) = Temperature sensor
// PIOS_ADC_PinGet(4) = Board Power
// -------------------------
#define PIOS_DMA_PIN_CONFIG \
{ \
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{ GPIOC, GPIO_Pin_0, ADC_Channel_10, true }, \
{ GPIOC, GPIO_Pin_1, ADC_Channel_11, true }, \
{ NULL, 0, ADC_Channel_Vrefint, true }, /* Voltage reference */ \
{ NULL, 0, ADC_Channel_TempSensor, true }, /* Temperature sensor */ \
{ GPIOC, GPIO_Pin_2, ADC_Channel_12, true } \
}
/* 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_USE_TEMP_SENSOR
#define PIOS_ADC_TEMPERATURE_PIN 3 /* V */
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// -------------------------
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// 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
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#endif /* PIOS_BOARD_H */
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/**
* @}
* @}
*/