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

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spring cleaning
2013-04-20 17:07:19 +02:00
/**
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******************************************************************************
*
* @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
*/
OP-896: rename RevoMini to Revolution
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#ifndef PIOS_BOARD_H
#define PIOS_BOARD_H
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//------------------------
// Timers and Channels Used
//------------------------
/*
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Timer | Channel 1 | Channel 2 | Channel 3 | Channel 4
------+-----------+-----------+-----------+----------
TIM1 | Servo 4 | | |
TIM2 | RC In 5 | RC In 6 | Servo 6 |
TIM3 | Servo 5 | RC In 2 | RC In 3 | RC In 4
TIM4 | RC In 1 | Servo 3 | Servo 2 | Servo 1
------+-----------+-----------+-----------+----------
*/
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//------------------------
// 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
//------------------------
// WATCHDOG_SETTINGS
//------------------------
#define PIOS_WATCHDOG_TIMEOUT 250
#define PIOS_WDG_REGISTER 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_AUTOTUNE 0x0010
//------------------------
// TELEMETRY
//------------------------
#define TELEM_QUEUE_SIZE 20
//------------------------
// 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_flexi_adapter_id;
#define PIOS_I2C_MAIN_ADAPTER (pios_i2c_flexi_adapter_id)
#define PIOS_I2C_ESC_ADAPTER (pios_i2c_flexi_adapter_id)
#define PIOS_I2C_BMP085_ADAPTER (pios_i2c_flexi_adapter_id)
//------------------------
// PIOS_BMP085
//------------------------
#define PIOS_BMP085_OVERSAMPLING 3
//-------------------------
// SPI
//
// See also pios_board.c
//-------------------------
#define PIOS_SPI_MAX_DEVS 2
//-------------------------
// PIOS_USART
//-------------------------
#define PIOS_USART_MAX_DEVS 2
//-------------------------
// PIOS_COM
//
// See also pios_board.c
//-------------------------
#define PIOS_COM_MAX_DEVS 3
extern uint32_t pios_com_telem_rf_id;
#define PIOS_COM_TELEM_RF (pios_com_telem_rf_id)
#if defined(PIOS_INCLUDE_GPS)
extern uint32_t pios_com_gps_id;
#define PIOS_COM_GPS (pios_com_gps_id)
#endif /* PIOS_INCLUDE_GPS */
extern uint32_t pios_com_bridge_id;
#define PIOS_COM_BRIDGE (pios_com_bridge_id)
extern uint32_t pios_com_vcp_id;
#define PIOS_COM_VCP (pios_com_vcp_id)
extern uint32_t pios_com_telem_usb_id;
#define PIOS_COM_TELEM_USB (pios_com_telem_usb_id)
#if defined(PIOS_INCLUDE_DEBUG_CONSOLE)
extern uint32_t pios_com_debug_id;
#define PIOS_COM_DEBUG (pios_com_debug_id)
#endif /* PIOS_INCLUDE_DEBUG_CONSOLE */
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extern uint32_t pios_com_hkosd_id;
#define PIOS_COM_OSDHK (pios_com_hkosd_id)
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//-------------------------
// ADC
// PIOS_ADC_PinGet(0) = Gyro Z
// PIOS_ADC_PinGet(1) = Gyro Y
// PIOS_ADC_PinGet(2) = Gyro X
//-------------------------
//#define PIOS_ADC_OVERSAMPLING_RATE 1
#define PIOS_ADC_USE_TEMP_SENSOR 1
#define PIOS_ADC_TEMP_SENSOR_ADC ADC1
#define PIOS_ADC_TEMP_SENSOR_ADC_CHANNEL 1
#define PIOS_ADC_PIN1_GPIO_PORT GPIOA // PA4 (Gyro X)
#define PIOS_ADC_PIN1_GPIO_PIN GPIO_Pin_4 // ADC12_IN4
#define PIOS_ADC_PIN1_GPIO_CHANNEL ADC_Channel_4
#define PIOS_ADC_PIN1_ADC ADC2
#define PIOS_ADC_PIN1_ADC_NUMBER 1
#define PIOS_ADC_PIN2_GPIO_PORT GPIOA // PA5 (Gyro Y)
#define PIOS_ADC_PIN2_GPIO_PIN GPIO_Pin_5 // ADC123_IN5
#define PIOS_ADC_PIN2_GPIO_CHANNEL ADC_Channel_5
#define PIOS_ADC_PIN2_ADC ADC1
#define PIOS_ADC_PIN2_ADC_NUMBER 2
#define PIOS_ADC_PIN3_GPIO_PORT GPIOA // PA3 (Gyro Z)
#define PIOS_ADC_PIN3_GPIO_PIN GPIO_Pin_3 // ADC12_IN3
#define PIOS_ADC_PIN3_GPIO_CHANNEL ADC_Channel_3
#define PIOS_ADC_PIN3_ADC ADC2
#define PIOS_ADC_PIN3_ADC_NUMBER 2
#define PIOS_ADC_NUM_PINS 3
#define PIOS_ADC_PORTS { PIOS_ADC_PIN1_GPIO_PORT, PIOS_ADC_PIN2_GPIO_PORT, PIOS_ADC_PIN3_GPIO_PORT }
#define PIOS_ADC_PINS { PIOS_ADC_PIN1_GPIO_PIN, PIOS_ADC_PIN2_GPIO_PIN, PIOS_ADC_PIN3_GPIO_PIN }
#define PIOS_ADC_CHANNELS { PIOS_ADC_PIN1_GPIO_CHANNEL, PIOS_ADC_PIN2_GPIO_CHANNEL, PIOS_ADC_PIN3_GPIO_CHANNEL }
#define PIOS_ADC_MAPPING { PIOS_ADC_PIN1_ADC, PIOS_ADC_PIN2_ADC, PIOS_ADC_PIN3_ADC }
#define PIOS_ADC_CHANNEL_MAPPING { PIOS_ADC_PIN1_ADC_NUMBER, PIOS_ADC_PIN2_ADC_NUMBER, PIOS_ADC_PIN3_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_CLOCK_FUNCTION RCC_APB2PeriphClockCmd(RCC_APB2Periph_ADC1 | RCC_APB2Periph_ADC2, ENABLE)
#define PIOS_ADC_ADCCLK RCC_PCLK2_Div8
/* 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
OP-931: Makes flight code compile with -Wfloat-equal and -Wunsuffixed-float-constants enabled. Also fixes warnings (and bugs) in F4 STM32_USB_OTG_Driver code, allowing -Werror to be enabled for all flight code. Fixes all other compiler warnings that would otherwise cause the flight code to not compile with -Werror enabled. Along the way, this also adds some uses of isnan() to various places rather than questionable tests for x != x and x == x to check for NaNs. +review OPReview
2013-04-30 13:06:42 +02:00
#define PIOS_ADC_RATE (72.0e6f / 1.0f / 8.0f / 252.0f / (PIOS_ADC_NUM_CHANNELS >> PIOS_ADC_USE_ADC2))
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#define PIOS_ADC_MAX_OVERSAMPLING 36
//------------------------
// PIOS_RCVR
// See also pios_board.c
//------------------------
#define PIOS_RCVR_MAX_DEVS 3
#define PIOS_RCVR_MAX_CHANNELS 12
#define PIOS_GCSRCVR_TIMEOUT_MS 100
//-------------------------
// Receiver PPM input
//-------------------------
#define PIOS_PPM_MAX_DEVS 1
#define PIOS_PPM_NUM_INPUTS 12
//-------------------------
// Receiver PWM input
//-------------------------
#define PIOS_PWM_MAX_DEVS 1
#define PIOS_PWM_NUM_INPUTS 6
//-------------------------
// Receiver DSM input
//-------------------------
#define PIOS_DSM_MAX_DEVS 2
#define PIOS_DSM_NUM_INPUTS 12
//-------------------------
// Receiver S.Bus input
//-------------------------
#define PIOS_SBUS_MAX_DEVS 1
#define PIOS_SBUS_NUM_INPUTS (16+2)
//-------------------------
// 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 */
//--------------------------
// Timer controller settings
//--------------------------
#define PIOS_TIM_MAX_DEVS 3
//-------------------------
// GPIO
//-------------------------
#define PIOS_GPIO_PORTS { }
#define PIOS_GPIO_PINS { }
#define PIOS_GPIO_CLKS { }
#define PIOS_GPIO_NUM 0
//-------------------------
// USB
//-------------------------
#define PIOS_USB_HID_MAX_DEVS 1
#define PIOS_USB_ENABLED 1
#define PIOS_USB_DETECT_GPIO_PORT GPIOC
#define PIOS_USB_MAX_DEVS 1
#define PIOS_USB_DETECT_GPIO_PIN GPIO_Pin_15
OP-896: rename RevoMini to Revolution
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#endif /* PIOS_BOARD_H */
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