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LibrePilot/flight/CopterControl/System/inc/pios_config.h

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rcvr: convert PWM, PPM, SBUS and Spektrum to use PIOS_RCVR All receivers now fall under the same driver API provided by pios_rcvr.c. This is part of a larger sequence of commits that will switch the receiver selection over to boot time dynamic configuration via UAVObjects.
2011-06-25 15:27:28 +02:00
/**
******************************************************************************
* @addtogroup OpenPilotSystem OpenPilot System
* @{
* @addtogroup OpenPilotCore OpenPilot Core
* @{
*
For OpenPilot use the minimal stack size (512 words) for eventdispatcher as this is necessary for object saving. Creating a new define to override this for CopterControl down to 96.
2011-07-12 19:34:40 +02:00
* @file pios_config.h
rcvr: convert PWM, PPM, SBUS and Spektrum to use PIOS_RCVR All receivers now fall under the same driver API provided by pios_rcvr.c. This is part of a larger sequence of commits that will switch the receiver selection over to boot time dynamic configuration via UAVObjects.
2011-06-25 15:27:28 +02:00
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
For OpenPilot use the minimal stack size (512 words) for eventdispatcher as this is necessary for object saving. Creating a new define to override this for CopterControl down to 96.
2011-07-12 19:34:40 +02:00
* @brief PiOS configuration header.
rcvr: convert PWM, PPM, SBUS and Spektrum to use PIOS_RCVR All receivers now fall under the same driver API provided by pios_rcvr.c. This is part of a larger sequence of commits that will switch the receiver selection over to boot time dynamic configuration via UAVObjects.
2011-06-25 15:27:28 +02:00
* Central compile time config for the project.
* In particular, pios_config.h is where you define which PiOS libraries
* and features are included in the firmware.
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
For OpenPilot use the minimal stack size (512 words) for eventdispatcher as this is necessary for object saving. Creating a new define to override this for CopterControl down to 96.
2011-07-12 19:34:40 +02:00
/*
* 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
rcvr: convert PWM, PPM, SBUS and Spektrum to use PIOS_RCVR All receivers now fall under the same driver API provided by pios_rcvr.c. This is part of a larger sequence of commits that will switch the receiver selection over to boot time dynamic configuration via UAVObjects.
2011-06-25 15:27:28 +02:00
* (at your option) any later version.
For OpenPilot use the minimal stack size (512 words) for eventdispatcher as this is necessary for object saving. Creating a new define to override this for CopterControl down to 96.
2011-07-12 19:34:40 +02:00
*
* 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
rcvr: convert PWM, PPM, SBUS and Spektrum to use PIOS_RCVR All receivers now fall under the same driver API provided by pios_rcvr.c. This is part of a larger sequence of commits that will switch the receiver selection over to boot time dynamic configuration via UAVObjects.
2011-06-25 15:27:28 +02:00
* for more details.
For OpenPilot use the minimal stack size (512 words) for eventdispatcher as this is necessary for object saving. Creating a new define to override this for CopterControl down to 96.
2011-07-12 19:34:40 +02:00
*
* 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.,
rcvr: convert PWM, PPM, SBUS and Spektrum to use PIOS_RCVR All receivers now fall under the same driver API provided by pios_rcvr.c. This is part of a larger sequence of commits that will switch the receiver selection over to boot time dynamic configuration via UAVObjects.
2011-06-25 15:27:28 +02:00
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef PIOS_CONFIG_H
#define PIOS_CONFIG_H
/* Enable/Disable PiOS Modules */
#define PIOS_INCLUDE_ADC
#define PIOS_INCLUDE_DELAY
#if defined(USE_I2C)
#define PIOS_INCLUDE_I2C
#define PIOS_INCLUDE_I2C_ESC
#endif
#define PIOS_INCLUDE_IRQ
#define PIOS_INCLUDE_LED
#define PIOS_INCLUDE_RCVR
bootcfg: use UAVobj to control boot-time HW config This should mark an end to the compile-time selection of HW configurations. Minor changes in board initialization for all platforms: - Most config structs are marked static to prevent badly written drivers from directly referring to config data. - Adapt to changes in .irq fields in config data. - Adapt to changes in USART IRQ handling. Major changes in board initialization for CC: - Use HwSettings UAVObj to decide which drivers to attach to the "main" port and the flexi port, and select the appropriate device configuration data. - HwSettings allows choosing between Disabled, Telemetry, SBUS, Spektrum,GPS, and I2C for each of the two ports. - Use ManualControlSettings.InputMode to init/configure the appropriate receiver module, and register its available rx channels with the PIOS_RCVR layer. Can choose between PWM, Spektrum and PPM at board init time. PPM driver is broken, and SBUS will work once it is added to this UAVObj as an option. - CC build now includes code for SBUS, Spektrum and PWM receivers in every firmware image. PIOS_USART driver: - Now handles its own low-level IRQs internally - If NULL upper-level IRQ handler is bound in at board init time then rx/tx is satisfied by internal PIOS_USART buffered IO routines which are (typically) attached to the COM layer. - If an alternate upper-level IRQ handler is bound in at board init then that handler is called and expected to clear down the USART IRQ sources. This is used by Spektrum and SBUS drivers. PIOS_SBUS and PIOS_SPEKTRUM drivers: - Improved data/API hiding - No longer assume they know where their config data is stored which allows for boot-time alternate configurations for the driver. - Now registers an upper-level IRQ handlerwith the USART layer to decouple the driver from which USART it is actually attached to.
2011-07-06 02:21:00 +02:00
/* Supported receiver interfaces */
spektrum: rename Spektrum to DSM (DSM2/DSMJ/DSMX used by Spektrum and JR radios) No code changes, just file, variable and define names are changed. First, it better describes the serial protocol used by DSMx satellite receivers. Second, many people using Spektrum radio, assume Spektrum protocol. This is the attempt to address those inaccuracies.
2011-11-04 20:40:34 +01:00
#define PIOS_INCLUDE_DSM
bootcfg: use UAVobj to control boot-time HW config This should mark an end to the compile-time selection of HW configurations. Minor changes in board initialization for all platforms: - Most config structs are marked static to prevent badly written drivers from directly referring to config data. - Adapt to changes in .irq fields in config data. - Adapt to changes in USART IRQ handling. Major changes in board initialization for CC: - Use HwSettings UAVObj to decide which drivers to attach to the "main" port and the flexi port, and select the appropriate device configuration data. - HwSettings allows choosing between Disabled, Telemetry, SBUS, Spektrum,GPS, and I2C for each of the two ports. - Use ManualControlSettings.InputMode to init/configure the appropriate receiver module, and register its available rx channels with the PIOS_RCVR layer. Can choose between PWM, Spektrum and PPM at board init time. PPM driver is broken, and SBUS will work once it is added to this UAVObj as an option. - CC build now includes code for SBUS, Spektrum and PWM receivers in every firmware image. PIOS_USART driver: - Now handles its own low-level IRQs internally - If NULL upper-level IRQ handler is bound in at board init time then rx/tx is satisfied by internal PIOS_USART buffered IO routines which are (typically) attached to the COM layer. - If an alternate upper-level IRQ handler is bound in at board init then that handler is called and expected to clear down the USART IRQ sources. This is used by Spektrum and SBUS drivers. PIOS_SBUS and PIOS_SPEKTRUM drivers: - Improved data/API hiding - No longer assume they know where their config data is stored which allows for boot-time alternate configurations for the driver. - Now registers an upper-level IRQ handlerwith the USART layer to decouple the driver from which USART it is actually attached to.
2011-07-06 02:21:00 +02:00
#define PIOS_INCLUDE_SBUS
Make PWM/PPM and Servo drivers play nicely together PWM and PPM can now coexist in the same load and be selected at boot time via the hwsettings UAVObject. This is basically a complete restructuring of the way the drivers interact with the TIM peripheral in the STM32. As a side effect, the PWM and PPM drivers are now ready to support multiple instances of each. This also provides the first step toward being able to reassign some of the PWM input pins to be servo output pins. Still more work required, but this is a good start.
2011-08-13 05:23:16 +02:00
#define PIOS_INCLUDE_PPM
rcvr: convert PWM, PPM, SBUS and Spektrum to use PIOS_RCVR All receivers now fall under the same driver API provided by pios_rcvr.c. This is part of a larger sequence of commits that will switch the receiver selection over to boot time dynamic configuration via UAVObjects.
2011-06-25 15:27:28 +02:00
#define PIOS_INCLUDE_PWM
rcvr: Add GCS receiver driver for rcvr via telemetry This allows the GCS to emulate a receiver device via the telemetry link. Select "GCS" as your input type in the manualcontrol config screen and calibrate it as normal. Note: The expected values for the channels are in microseconds just like a PWM or PPM input device. The channel values are validated against minimum/maximum pulse lengths just like normal receivers.
2011-07-28 14:22:47 +02:00
#define PIOS_INCLUDE_GCSRCVR
rcvr: convert PWM, PPM, SBUS and Spektrum to use PIOS_RCVR All receivers now fall under the same driver API provided by pios_rcvr.c. This is part of a larger sequence of commits that will switch the receiver selection over to boot time dynamic configuration via UAVObjects.
2011-06-25 15:27:28 +02:00
bootcfg: use UAVobj to control boot-time HW config This should mark an end to the compile-time selection of HW configurations. Minor changes in board initialization for all platforms: - Most config structs are marked static to prevent badly written drivers from directly referring to config data. - Adapt to changes in .irq fields in config data. - Adapt to changes in USART IRQ handling. Major changes in board initialization for CC: - Use HwSettings UAVObj to decide which drivers to attach to the "main" port and the flexi port, and select the appropriate device configuration data. - HwSettings allows choosing between Disabled, Telemetry, SBUS, Spektrum,GPS, and I2C for each of the two ports. - Use ManualControlSettings.InputMode to init/configure the appropriate receiver module, and register its available rx channels with the PIOS_RCVR layer. Can choose between PWM, Spektrum and PPM at board init time. PPM driver is broken, and SBUS will work once it is added to this UAVObj as an option. - CC build now includes code for SBUS, Spektrum and PWM receivers in every firmware image. PIOS_USART driver: - Now handles its own low-level IRQs internally - If NULL upper-level IRQ handler is bound in at board init time then rx/tx is satisfied by internal PIOS_USART buffered IO routines which are (typically) attached to the COM layer. - If an alternate upper-level IRQ handler is bound in at board init then that handler is called and expected to clear down the USART IRQ sources. This is used by Spektrum and SBUS drivers. PIOS_SBUS and PIOS_SPEKTRUM drivers: - Improved data/API hiding - No longer assume they know where their config data is stored which allows for boot-time alternate configurations for the driver. - Now registers an upper-level IRQ handlerwith the USART layer to decouple the driver from which USART it is actually attached to.
2011-07-06 02:21:00 +02:00
/* Supported USART-based PIOS modules */
rcvr: convert PWM, PPM, SBUS and Spektrum to use PIOS_RCVR All receivers now fall under the same driver API provided by pios_rcvr.c. This is part of a larger sequence of commits that will switch the receiver selection over to boot time dynamic configuration via UAVObjects.
2011-06-25 15:27:28 +02:00
#define PIOS_INCLUDE_TELEMETRY_RF
Enable GPS module as "optional module" in CooterControl
2011-08-20 01:25:49 +02:00
#define PIOS_INCLUDE_GPS
Refactor GPS_PURISTIC into GPS_MINIMAL
2011-08-25 15:44:49 +02:00
#define PIOS_GPS_MINIMAL
rcvr: convert PWM, PPM, SBUS and Spektrum to use PIOS_RCVR All receivers now fall under the same driver API provided by pios_rcvr.c. This is part of a larger sequence of commits that will switch the receiver selection over to boot time dynamic configuration via UAVObjects.
2011-06-25 15:27:28 +02:00
#define PIOS_INCLUDE_SERVO
#define PIOS_INCLUDE_SPI
#define PIOS_INCLUDE_SYS
#define PIOS_INCLUDE_USART
usb: major refactoring of USB descriptors, CDC and HID Summary of changes: * USB CDC and HID drivers are completely split apart. * This will allow different max buffer sizes for HID and CDC. * USB descriptors have been overhauled: * Proper structs/macros/enums declared for USB (see pios_usb_defs.h) * Two common descriptor definitions. One for HID+CDC another for HID only. See pios_usb_desc_{hid_cdc,hid_only}.c for details. * Long standing bugs in OP USB descriptors became much more obvious with the new struct definitions. * Board specific USB initialization is now in pios_usb_board_data.h in each build target. * Definition of USB descriptors is now entirely indpendent of STM32 libs. Glue into STM32 libs is provided by pios_usbhook.c. * Removed a lot of stale/irrelevant USB #defines throughout the tree. * Improved naming consistency throughout USB code: * PIOS_USB_HID_* now refers to the HID endpoint code. * PIOS_USB_CDC_* now refers to the CDC endpoint code. * PIOS_USB_* now refers to the low-level USB code. * PIOS_USB_BOARD_* now refers to board-specific USB data * PIOS_USBHOOK_* is glue between PIOS and STM32 USB libs. * struct usb_* and enum usb_* and USB_* and HID_* are all types from the USB spec. * Shrunk the buffer size on the CDC call mgmt endpoint to save some RAM. * Made a few more USB related variables static to save some RAM.
2012-01-02 20:03:15 +01:00
#define PIOS_INCLUDE_USB
rcvr: convert PWM, PPM, SBUS and Spektrum to use PIOS_RCVR All receivers now fall under the same driver API provided by pios_rcvr.c. This is part of a larger sequence of commits that will switch the receiver selection over to boot time dynamic configuration via UAVObjects.
2011-06-25 15:27:28 +02:00
#define PIOS_INCLUDE_USB_HID
usb: major refactoring of USB descriptors, CDC and HID Summary of changes: * USB CDC and HID drivers are completely split apart. * This will allow different max buffer sizes for HID and CDC. * USB descriptors have been overhauled: * Proper structs/macros/enums declared for USB (see pios_usb_defs.h) * Two common descriptor definitions. One for HID+CDC another for HID only. See pios_usb_desc_{hid_cdc,hid_only}.c for details. * Long standing bugs in OP USB descriptors became much more obvious with the new struct definitions. * Board specific USB initialization is now in pios_usb_board_data.h in each build target. * Definition of USB descriptors is now entirely indpendent of STM32 libs. Glue into STM32 libs is provided by pios_usbhook.c. * Removed a lot of stale/irrelevant USB #defines throughout the tree. * Improved naming consistency throughout USB code: * PIOS_USB_HID_* now refers to the HID endpoint code. * PIOS_USB_CDC_* now refers to the CDC endpoint code. * PIOS_USB_* now refers to the low-level USB code. * PIOS_USB_BOARD_* now refers to board-specific USB data * PIOS_USBHOOK_* is glue between PIOS and STM32 USB libs. * struct usb_* and enum usb_* and USB_* and HID_* are all types from the USB spec. * Shrunk the buffer size on the CDC call mgmt endpoint to save some RAM. * Made a few more USB related variables static to save some RAM.
2012-01-02 20:03:15 +01:00
#define PIOS_INCLUDE_USB_CDC
rcvr: convert PWM, PPM, SBUS and Spektrum to use PIOS_RCVR All receivers now fall under the same driver API provided by pios_rcvr.c. This is part of a larger sequence of commits that will switch the receiver selection over to boot time dynamic configuration via UAVObjects.
2011-06-25 15:27:28 +02:00
#define PIOS_INCLUDE_COM
#define PIOS_INCLUDE_SETTINGS
#define PIOS_INCLUDE_FREERTOS
#define PIOS_INCLUDE_GPIO
#define PIOS_INCLUDE_EXTI
#define PIOS_INCLUDE_RTC
#define PIOS_INCLUDE_WDG
#define PIOS_INCLUDE_BL_HELPER
#define PIOS_INCLUDE_ADXL345
#define PIOS_INCLUDE_FLASH
/* A really shitty setting saving implementation */
#define PIOS_INCLUDE_FLASH_SECTOR_SETTINGS
/* Defaults for Logging */
#define LOG_FILENAME "PIOS.LOG"
#define STARTUP_LOG_ENABLED 1
/* Alarm Thresholds */
#define HEAP_LIMIT_WARNING 220
bootcfg: use UAVobj to control boot-time HW config This should mark an end to the compile-time selection of HW configurations. Minor changes in board initialization for all platforms: - Most config structs are marked static to prevent badly written drivers from directly referring to config data. - Adapt to changes in .irq fields in config data. - Adapt to changes in USART IRQ handling. Major changes in board initialization for CC: - Use HwSettings UAVObj to decide which drivers to attach to the "main" port and the flexi port, and select the appropriate device configuration data. - HwSettings allows choosing between Disabled, Telemetry, SBUS, Spektrum,GPS, and I2C for each of the two ports. - Use ManualControlSettings.InputMode to init/configure the appropriate receiver module, and register its available rx channels with the PIOS_RCVR layer. Can choose between PWM, Spektrum and PPM at board init time. PPM driver is broken, and SBUS will work once it is added to this UAVObj as an option. - CC build now includes code for SBUS, Spektrum and PWM receivers in every firmware image. PIOS_USART driver: - Now handles its own low-level IRQs internally - If NULL upper-level IRQ handler is bound in at board init time then rx/tx is satisfied by internal PIOS_USART buffered IO routines which are (typically) attached to the COM layer. - If an alternate upper-level IRQ handler is bound in at board init then that handler is called and expected to clear down the USART IRQ sources. This is used by Spektrum and SBUS drivers. PIOS_SBUS and PIOS_SPEKTRUM drivers: - Improved data/API hiding - No longer assume they know where their config data is stored which allows for boot-time alternate configurations for the driver. - Now registers an upper-level IRQ handlerwith the USART layer to decouple the driver from which USART it is actually attached to.
2011-07-06 02:21:00 +02:00
#define HEAP_LIMIT_CRITICAL 40
OP-423: Also reduce heap has it does not fit in SRAM anymore (not with current compiler). (that's ok since if there is more space available, it will be reclaimed). Merge branch 'master' into OP-423_Mathieu_Change_Init_To_Reduce_Memory_Footprint Conflicts: flight/CopterControl/System/inc/pios_config.h flight/Modules/ManualControl/manualcontrol.c
2011-07-08 15:29:34 +02:00
#define IRQSTACK_LIMIT_WARNING 100
OP-423 Reduce IRQ stack limits (CC onlyt)
2011-06-22 15:32:27 +02:00
#define IRQSTACK_LIMIT_CRITICAL 60
bootcfg: use UAVobj to control boot-time HW config This should mark an end to the compile-time selection of HW configurations. Minor changes in board initialization for all platforms: - Most config structs are marked static to prevent badly written drivers from directly referring to config data. - Adapt to changes in .irq fields in config data. - Adapt to changes in USART IRQ handling. Major changes in board initialization for CC: - Use HwSettings UAVObj to decide which drivers to attach to the "main" port and the flexi port, and select the appropriate device configuration data. - HwSettings allows choosing between Disabled, Telemetry, SBUS, Spektrum,GPS, and I2C for each of the two ports. - Use ManualControlSettings.InputMode to init/configure the appropriate receiver module, and register its available rx channels with the PIOS_RCVR layer. Can choose between PWM, Spektrum and PPM at board init time. PPM driver is broken, and SBUS will work once it is added to this UAVObj as an option. - CC build now includes code for SBUS, Spektrum and PWM receivers in every firmware image. PIOS_USART driver: - Now handles its own low-level IRQs internally - If NULL upper-level IRQ handler is bound in at board init time then rx/tx is satisfied by internal PIOS_USART buffered IO routines which are (typically) attached to the COM layer. - If an alternate upper-level IRQ handler is bound in at board init then that handler is called and expected to clear down the USART IRQ sources. This is used by Spektrum and SBUS drivers. PIOS_SBUS and PIOS_SPEKTRUM drivers: - Improved data/API hiding - No longer assume they know where their config data is stored which allows for boot-time alternate configurations for the driver. - Now registers an upper-level IRQ handlerwith the USART layer to decouple the driver from which USART it is actually attached to.
2011-07-06 02:21:00 +02:00
#define CPULOAD_LIMIT_WARNING 85
rcvr: convert PWM, PPM, SBUS and Spektrum to use PIOS_RCVR All receivers now fall under the same driver API provided by pios_rcvr.c. This is part of a larger sequence of commits that will switch the receiver selection over to boot time dynamic configuration via UAVObjects.
2011-06-25 15:27:28 +02:00
#define CPULOAD_LIMIT_CRITICAL 95
/* Task stack sizes */
#define PIOS_ACTUATOR_STACK_SIZE 1020
#define PIOS_MANUAL_STACK_SIZE 724
OP-423: Also reduce heap has it does not fit in SRAM anymore (not with current compiler). (that's ok since if there is more space available, it will be reclaimed). Merge branch 'master' into OP-423_Mathieu_Change_Init_To_Reduce_Memory_Footprint Conflicts: flight/CopterControl/System/inc/pios_config.h flight/Modules/ManualControl/manualcontrol.c
2011-07-08 15:29:34 +02:00
#define PIOS_SYSTEM_STACK_SIZE 460
rcvr: convert PWM, PPM, SBUS and Spektrum to use PIOS_RCVR All receivers now fall under the same driver API provided by pios_rcvr.c. This is part of a larger sequence of commits that will switch the receiver selection over to boot time dynamic configuration via UAVObjects.
2011-06-25 15:27:28 +02:00
#define PIOS_STABILIZATION_STACK_SIZE 524
#define PIOS_TELEM_STACK_SIZE 500
Increase the size of the eventdispatcher task and lower the maximum queue size.
2011-08-14 02:21:30 +02:00
#define PIOS_EVENTDISPATCHER_STACK_SIZE 130
rcvr: convert PWM, PPM, SBUS and Spektrum to use PIOS_RCVR All receivers now fall under the same driver API provided by pios_rcvr.c. This is part of a larger sequence of commits that will switch the receiver selection over to boot time dynamic configuration via UAVObjects.
2011-06-25 15:27:28 +02:00
#define IDLE_COUNTS_PER_SEC_AT_NO_LOAD 1995998
//#define PIOS_QUATERNION_STABILIZATION
Increase the size of the eventdispatcher task and lower the maximum queue size.
2011-08-14 02:21:30 +02:00
// This can't be too high to stop eventdispatcher thread overflowing
#define PIOS_EVENTDISAPTCHER_QUEUE 10
Initcall: fix compilation errors for firmware which does not use Initcalls
2011-09-28 21:57:18 +02:00
/* PIOS Initcall infrastructure */
#define PIOS_INCLUDE_INITCALL
rcvr: convert PWM, PPM, SBUS and Spektrum to use PIOS_RCVR All receivers now fall under the same driver API provided by pios_rcvr.c. This is part of a larger sequence of commits that will switch the receiver selection over to boot time dynamic configuration via UAVObjects.
2011-06-25 15:27:28 +02:00
#endif /* PIOS_CONFIG_H */
/**
* @}
* @}
*/
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