LibrePilot/flight/PiOS/Boards/STM32103CB_AHRS.h

 /**
 ******************************************************************************
 *
 * @file       pios_board.h
 * @author     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 STM32103CB_AHRS_H_
#define STM32103CB_AHRS_H_

//------------------------
// Timers and Channels Used
//------------------------
/*
Timer | Channel 1 | Channel 2 | Channel 3 | Channel 4
------+-----------+-----------+-----------+----------
TIM1  |           |           |           |
TIM2  | --------------- PIOS_DELAY -----------------
TIM3  |           |           |           |
TIM4  |           |           |           |
TIM5  |           |           |           |
TIM6  |           |           |           |
TIM7  |           |           |           |
TIM8  |           |           |           |
------+-----------+-----------+-----------+----------
*/

//------------------------
// 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

//------------------------
// 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_main_adapter_id;
#define PIOS_I2C_MAIN_ADAPTER			(pios_i2c_main_adapter_id)

//-------------------------
// SPI
//
// See also pios_board.c
//-------------------------
#define PIOS_SPI_MAX_DEVS			1

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

//-------------------------
// PIOS_COM
//
// See also pios_board.c
//-------------------------
#define PIOS_COM_MAX_DEVS			2

extern uint32_t pios_com_aux_id;
#define PIOS_COM_AUX				(pios_com_aux_id)
#define PIOS_COM_DEBUG				PIOS_COM_AUX

//-------------------------
// ADC
// PIOS_ADC_PinGet(0) = Accel Z
// PIOS_ADC_PinGet(2) = Accel Y
// PIOS_ADC_PinGet(4) = Accel X
// PIOS_ADC_PinGet(1) = Gyro X
// PIOS_ADC_PinGet(3) = Gyro Y
// PIOS_ADC_PinGet(5) = Gyro Z
// PIOS_ADC_PinGet(6) = XY Temp
// PIOS_ADC_PinGet(7) = Z Temp
//-------------------------
//#define PIOS_ADC_OVERSAMPLING_RATE		1
#define PIOS_ADC_USE_TEMP_SENSOR		0
#define PIOS_ADC_TEMP_SENSOR_ADC		ADC1
#define PIOS_ADC_TEMP_SENSOR_ADC_CHANNEL	1

#define PIOS_ADC_PIN1_GPIO_PORT			GPIOA			// PA2 (Accel X)
#define PIOS_ADC_PIN1_GPIO_PIN			GPIO_Pin_2		// ADC12_IN2
#define PIOS_ADC_PIN1_GPIO_CHANNEL		ADC_Channel_2
#define PIOS_ADC_PIN1_ADC			ADC1
#define PIOS_ADC_PIN1_ADC_NUMBER		1

#define PIOS_ADC_PIN2_GPIO_PORT			GPIOA			// PA1 (Accel Y)
#define PIOS_ADC_PIN2_GPIO_PIN			GPIO_Pin_1		// ADC123_IN1
#define PIOS_ADC_PIN2_GPIO_CHANNEL		ADC_Channel_1
#define PIOS_ADC_PIN2_ADC			ADC1
#define PIOS_ADC_PIN2_ADC_NUMBER		2

#define PIOS_ADC_PIN3_GPIO_PORT			GPIOA			// PA0 (Accel Z)
#define PIOS_ADC_PIN3_GPIO_PIN			GPIO_Pin_0		// ADC12_IN0
#define PIOS_ADC_PIN3_GPIO_CHANNEL		ADC_Channel_0
#define PIOS_ADC_PIN3_ADC			ADC1
#define PIOS_ADC_PIN3_ADC_NUMBER		3

#define PIOS_ADC_PIN4_GPIO_PORT			GPIOA			// PA6 (Temp_XY)
#define PIOS_ADC_PIN4_GPIO_PIN			GPIO_Pin_6		// ADC12_IN6
#define PIOS_ADC_PIN4_GPIO_CHANNEL		ADC_Channel_6
#define PIOS_ADC_PIN4_ADC			ADC1
#define PIOS_ADC_PIN4_ADC_NUMBER		4

#define PIOS_ADC_PIN5_GPIO_PORT			GPIOA			// PA4 (Gyro X)
#define PIOS_ADC_PIN5_GPIO_PIN			GPIO_Pin_4		// ADC12_IN4
#define PIOS_ADC_PIN5_GPIO_CHANNEL		ADC_Channel_4
#define PIOS_ADC_PIN5_ADC			ADC2
#define PIOS_ADC_PIN5_ADC_NUMBER		1

#define PIOS_ADC_PIN6_GPIO_PORT			GPIOA			// PA5 (Gyro Y)
#define PIOS_ADC_PIN6_GPIO_PIN			GPIO_Pin_5		// ADC12_IN5
#define PIOS_ADC_PIN6_GPIO_CHANNEL		ADC_Channel_5
#define PIOS_ADC_PIN6_ADC			ADC2
#define PIOS_ADC_PIN6_ADC_NUMBER		2

#define PIOS_ADC_PIN7_GPIO_PORT			GPIOA			// PA7 (Gyro Z)
#define PIOS_ADC_PIN7_GPIO_PIN			GPIO_Pin_7		// ADC12_IN7
#define PIOS_ADC_PIN7_GPIO_CHANNEL		ADC_Channel_7
#define PIOS_ADC_PIN7_ADC			ADC2
#define PIOS_ADC_PIN7_ADC_NUMBER		3

#define PIOS_ADC_PIN8_GPIO_PORT			GPIOB			// PB1 (Z Temp)
#define PIOS_ADC_PIN8_GPIO_PIN			GPIO_Pin_1		// ADC12_IN9
#define PIOS_ADC_PIN8_GPIO_CHANNEL		ADC_Channel_9
#define PIOS_ADC_PIN8_ADC			ADC2
#define PIOS_ADC_PIN8_ADC_NUMBER		4

#define PIOS_ADC_NUM_PINS			8

#define PIOS_ADC_PORTS				{ PIOS_ADC_PIN1_GPIO_PORT, PIOS_ADC_PIN2_GPIO_PORT, PIOS_ADC_PIN3_GPIO_PORT, PIOS_ADC_PIN4_GPIO_PORT, PIOS_ADC_PIN5_GPIO_PORT, PIOS_ADC_PIN6_GPIO_PORT, PIOS_ADC_PIN7_GPIO_PORT, PIOS_ADC_PIN8_GPIO_PORT }
#define PIOS_ADC_PINS				{ PIOS_ADC_PIN1_GPIO_PIN, PIOS_ADC_PIN2_GPIO_PIN, PIOS_ADC_PIN3_GPIO_PIN, PIOS_ADC_PIN4_GPIO_PIN, PIOS_ADC_PIN5_GPIO_PIN, PIOS_ADC_PIN6_GPIO_PIN, PIOS_ADC_PIN7_GPIO_PIN, PIOS_ADC_PIN8_GPIO_PIN }
#define PIOS_ADC_CHANNELS			{ PIOS_ADC_PIN1_GPIO_CHANNEL, PIOS_ADC_PIN2_GPIO_CHANNEL, PIOS_ADC_PIN3_GPIO_CHANNEL, PIOS_ADC_PIN4_GPIO_CHANNEL, PIOS_ADC_PIN5_GPIO_CHANNEL, PIOS_ADC_PIN6_GPIO_CHANNEL, PIOS_ADC_PIN7_GPIO_CHANNEL, PIOS_ADC_PIN8_GPIO_CHANNEL }
#define PIOS_ADC_MAPPING			{ PIOS_ADC_PIN1_ADC, PIOS_ADC_PIN2_ADC, PIOS_ADC_PIN3_ADC, PIOS_ADC_PIN4_ADC, PIOS_ADC_PIN5_ADC, PIOS_ADC_PIN6_ADC, PIOS_ADC_PIN7_ADC, PIOS_ADC_PIN8_ADC }
#define PIOS_ADC_CHANNEL_MAPPING		{ PIOS_ADC_PIN1_ADC_NUMBER, PIOS_ADC_PIN2_ADC_NUMBER, PIOS_ADC_PIN3_ADC_NUMBER, PIOS_ADC_PIN4_ADC_NUMBER, PIOS_ADC_PIN5_ADC_NUMBER, PIOS_ADC_PIN6_ADC_NUMBER, PIOS_ADC_PIN7_ADC_NUMBER, PIOS_ADC_PIN8_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_ADCCLK				RCC_PCLK2_Div2
#define PIOS_ADC_PCLK2                          RCC_HCLK_Div16
#define PIOS_ADC_CLOCK_FUNCTION			RCC_APB2PeriphClockCmd(RCC_APB2Periph_ADC1 | RCC_APB2Periph_ADC2, ENABLE); RCC_PCLK2Config(PIOS_ADC_PCLK2);
/* 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		(72.0e6 / 16 / 2 / 252 / (PIOS_ADC_NUM_PINS / 2))
#define EKF_RATE		(PIOS_ADC_RATE / adc_oversampling / 2)
#define PIOS_ADC_MAX_OVERSAMPLING               50

//-------------------------
// GPIO
//-------------------------
#define PIOS_GPIO_1_PORT			GPIOB
#define PIOS_GPIO_1_PIN				GPIO_Pin_9
#define PIOS_GPIO_1_GPIO_CLK			RCC_APB2Periph_GPIOB
#define PIOS_GPIO_PORTS				{ PIOS_GPIO_1_PORT }
#define PIOS_GPIO_PINS				{ PIOS_GPIO_1_PIN }
#define PIOS_GPIO_CLKS				{ PIOS_GPIO_1_GPIO_CLK }
#define PIOS_GPIO_NUM				1
#define SET_ACCEL_2G PIOS_GPIO_On(0);
#define SET_ACCEL_6G PIOS_GPIO_Off(0)

//------------------------
// PIOS_HMC5843
//------------------------
#define PIOS_HMC5843_DRDY_GPIO_PORT		GPIOB
#define PIOS_HMC5843_DRDY_GPIO_PIN		GPIO_Pin_8
#define PIOS_HMC5843_DRDY_PORT_SOURCE		GPIO_PortSourceGPIOB
#define PIOS_HMC5843_DRDY_PIN_SOURCE		GPIO_PinSource8
#define PIOS_HMC5843_DRDY_CLK			RCC_APB2Periph_GPIOB
#define PIOS_HMC5843_DRDY_EXTI_LINE		EXTI_Line8
#define PIOS_HMC5843_DRDY_IRQn			EXTI9_5_IRQn
#define PIOS_HMC5843_DRDY_PRIO			PIOS_IRQ_PRIO_HIGH



#endif /* STM32103CB_AHRS_H_ */