mirror of
https://bitbucket.org/librepilot/librepilot.git
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207 lines
7.0 KiB
C
207 lines
7.0 KiB
C
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/**
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* Project: OpenPilot
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*
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* @author The OpenPilot Team, http://www.openpilot.org, Copyright (C) 2009.
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*
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* @see The GNU Public License (GPL)
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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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// DMA Channels Used
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//------------------------
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/* Channel 1 - */
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/* Channel 2 - SPI1 (SPI_SD_RX) */
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/* Channel 3 - SPI1 (SPI_SD_TX) */
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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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// Leds Definition
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//------------------------
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#define LED1_GPIO_PORT GPIOC
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#define LED1_GPIO_PIN GPIO_Pin_12
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#define LED1_GPIO_CLK RCC_APB2Periph_GPIOC
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#define LED2_GPIO_PORT GPIOC
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#define LED2_GPIO_PIN GPIO_Pin_13
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#define LED2_GPIO_CLK RCC_APB2Periph_GPIOC
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#define NUM_LED 2
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//------------------------
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// I2C
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//------------------------
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#define I2C_GPIO_PORT GPIOB
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#define I2C_SDA_PIN GPIO_Pin_11
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#define I2C_SCL_PIN GPIO_Pin_10
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//------------------------
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// Onboard Pressure sensor
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//------------------------
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#define HP03D_XCLR_GPIO_PORT GPIOC
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#define HP03D_XCLR_GPIO_PIN GPIO_Pin_15
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#define HP03D_MCLK_GPIO_PORT GPIOA
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#define HP03D_MCLK_GPIO_PIN GPIO_Pin_1
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//-------------------------
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// GPS UART
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//-------------------------
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#define GPS_UART USART2
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#define GPS_BAUD 57600
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#define GPS_GPIO_PORT GPIOA
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#define GPS_RX_PIN GPIO_Pin_3
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#define GPS_TX_PIN GPIO_Pin_2
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#define GPS_REMAP_FUNC { }
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#define GPS_IRQ_CHANNEL USART2_IRQn
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#define GPS_IRQHANDLER_FUNC void USART2_IRQHandler(void)
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#define GPS_CLK_FUNC RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART2, ENABLE)
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#define GPS_NVIC_PRIO IRQ_PRIO_HIGHEST
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//-------------------------
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// Telemetry radio UART
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//-------------------------
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#define TELEM_UART USART3
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#define TELEM_BAUD 115200
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#define TELEM_GPIO_PORT GPIOC
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#define TELEM_RX_PIN GPIO_Pin_11
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#define TELEM_TX_PIN GPIO_Pin_10
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#define TELEM_REMAP_FUNC { GPIO_PinRemapConfig(GPIO_PartialRemap_USART3, ENABLE); }
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#define TELEM_IRQ_CHANNEL USART3_IRQn
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#define TELEM_IRQHANDLER_FUNC void USART3_IRQHandler(void)
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#define TELEM_CLK_FUNC RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART3, ENABLE)
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#define TELEM_NVIC_PRIO IRQ_PRIO_HIGHEST
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//-------------------------
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// AUXSER USART (available instead of RX5/RX6)
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//-------------------------
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#define AUX_UART_BAUD 19200
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#define AUX_UART_UART USART1
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#define AUX_UART_GPIO_PORT GPIOA
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#define AUX_UART_RX_PIN GPIO_Pin_10
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#define AUX_UART_TX_PIN GPIO_Pin_9
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#define GPS_REMAP_FUNC { }
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#define AUX_UART_IRQ_CHANNEL USART1_IRQn
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#define AUX_UART_IRQHANDLER_FUNC void USART1_IRQHandler(void)
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#define AUX_UART_CLK_FUNC RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1, ENABLE)
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#define AUX_UART_NVIC_PRIO IRQ_PRIO_HIGH
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//-------------------------
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// USART Serial Ports
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//-------------------------
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#define UART_NUM 3
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#define UART_RX_BUFFER_SIZE 128
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#define UART_TX_BUFFER_SIZE 128
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//-------------------------
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// Receiver PWM inputs
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//-------------------------
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#define RECEIVER1_GPIO_PORT GPIOB
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#define RECEIVER1_PIN GPIO_Pin_2 // PB2
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#define RECEIVER1_TIM_PORT TIM3
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#define RECEIVER1_CH TIM_Channel_3 // TIM3_CH3
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#define RECEIVER2_GPIO_PORT GPIOB
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#define RECEIVER2_PIN GPIO_Pin_1 // PB1
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#define RECEIVER2_TIM_PORT TIM3
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#define RECEIVER2_CH TIM_Channel_4 // TIM3_CH4
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#define RECEIVER3_GPIO_PORT GPIOA
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#define RECEIVER3_PIN GPIO_Pin_8 // PA8
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#define RECEIVER3_TIM_PORT TIM1
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#define RECEIVER3_CH TIM_Channel_1 // TIM1_CH1
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#define RECEIVER4_GPIO_PORT GPIOA
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#define RECEIVER4_PIN GPIO_Pin_0 // PA0
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#define RECEIVER4_TIM_PORT TIM5
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#define RECEIVER4_CH TIM_Channel_1 // TIM5_CH1
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#define RECEIVER5_GPIO_PORT GPIOA
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#define RECEIVER5_PIN GPIO_Pin_10 // PA10
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#define RECEIVER5_TIM_PORT TIM1
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#define RECEIVER5_CH TIM_Channel_3 // TIM1_CH3
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#define RECEIVER6_GPIO_PORT GPIOA
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#define RECEIVER6_PIN GPIO_Pin_9 // PA9
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#define RECEIVER6_TIM_PORT TIM1
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#define RECEIVER6_CH TIM_Channel_2 // TIM1_CH2
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/* Not used in v1.2 HW
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#define RECEIVER7_GPIO_PORT GPIOB
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#define RECEIVER7_PIN GPIO_Pin_4 // PB4
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#define RECEIVER7_TIM_PORT TIM3
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#define RECEIVER7_CH TIM_Channel_1 // TIM3_CH1
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#define RECEIVER8_GPIO_PORT GPIOB
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#define RECEIVER8_PIN GPIO_Pin_5 // PB5
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#define RECEIVER8_TIM_PORT TIM3
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#define RECEIVER8_CH TIM_Channel_2 // TIM3_CH2
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*/
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#define NUM_RECEIVER_INPUTS 6
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//-------------------------
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// Servo outputs
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//-------------------------
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#define SERVO1_4_PORT GPIOB
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#define SERVO1_PIN GPIO_Pin_6
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#define SERVO2_PIN GPIO_Pin_7
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#define SERVO3_PIN GPIO_Pin_8
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#define SERVO4_PIN GPIO_Pin_9
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#define SERVO5_8_PORT GPIOC
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#define SERVO5_PIN GPIO_Pin_6
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#define SERVO6_PIN GPIO_Pin_7
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#define SERVO7_PIN GPIO_Pin_8
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#define SERVO8_PIN GPIO_Pin_9
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#define NUM_SERVO_OUTPUTS 8
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//-------------------------
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// Leveler (analog inputs)
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//-------------------------
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#define LEVELER_GPIO_PORT GPIOC
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#define LEVELER_Z_PIN GPIO_Pin_0 // ADC123_IN10
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#define LEVELER_A_PIN GPIO_Pin_1 // ADC123_IN11
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#define LEVELER_B_PIN GPIO_Pin_2 // ADC123_IN12
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//-------------------------
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// USB
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//-------------------------
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#define USB_ACC_GPIO_PORT GPIOC
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#define USB_DETECT_PIN GPIO_Pin_4
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#define USB_PULLUP_PIN GPIO_Pin_14
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//-------------------------
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// Master Clock
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//-------------------------
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#define MASTER_CLOCK 72000000
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#define PERIPHERAL_CLOCK (MASTER_CLOCK/2)
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//-------------------------
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// USB
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//-------------------------
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#define IRQ_PRIO_LOW 12 // lower than RTOS
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#define IRQ_PRIO_MID 8 // higher than RTOS
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#define IRQ_PRIO_HIGH 5 // for like SPI, AIN, I2C etc...
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#define IRQ_PRIO_HIGHEST 4 // for UART etc...
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#endif /* PIOS_BOARD_H */
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