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

/**
 ******************************************************************************
 * @addtogroup OpenPilotSystem OpenPilot System
 * @{
 * @addtogroup OpenPilotCore OpenPilot Core
 * @{
 * @file       pios_board.h
 * @author     The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015.
 *             The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
 * @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 PIOS_BOARD_H
#define PIOS_BOARD_H

#include <stdbool.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  - 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 -                                 */

// ------------------------
// BOOTLOADER_SETTINGS
// ------------------------
#define BOARD_READABLE     true
#define BOARD_WRITABLE     true
#define MAX_DEL_RETRYS     3

// ------------------------
// PIOS_LED
// ------------------------
#define PIOS_LED_HEARTBEAT 0
#define PIOS_LED_ALARM     1
#ifdef PIOS_RFM22B_DEBUG_ON_TELEM
#define PIOS_LED_D1        2
#define PIOS_LED_D2        3
#define PIOS_LED_D3        4
#define PIOS_LED_D4        5

#define D1_LED_ON          PIOS_LED_On(PIOS_LED_D1)
#define D1_LED_OFF         PIOS_LED_Off(PIOS_LED_D1)
#define D1_LED_TOGGLE      PIOS_LED_Toggle(PIOS_LED_D1)

#define D2_LED_ON          PIOS_LED_On(PIOS_LED_D2)
#define D2_LED_OFF         PIOS_LED_Off(PIOS_LED_D2)
#define D2_LED_TOGGLE      PIOS_LED_Toggle(PIOS_LED_D2)

#define D3_LED_ON          PIOS_LED_On(PIOS_LED_D3)
#define D3_LED_OFF         PIOS_LED_Off(PIOS_LED_D3)
#define D3_LED_TOGGLE      PIOS_LED_Toggle(PIOS_LED_D3)

#define D4_LED_ON          PIOS_LED_On(PIOS_LED_D4)
#define D4_LED_OFF         PIOS_LED_Off(PIOS_LED_D4)
#define D4_LED_TOGGLE      PIOS_LED_Toggle(PIOS_LED_D4)
#endif /* PIOS_RFM22B_DEBUG_ON_TELEM */

// ------------------------
// PIOS_SPI
// See also pios_board.c
// ------------------------
#define PIOS_SPI_MAX_DEVS      3

// ------------------------
// PIOS_WDG
// ------------------------
#define PIOS_WATCHDOG_TIMEOUT  500
#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

// ------------------------
// PIOS_I2C
// See also pios_board.c
// ------------------------
#define PIOS_I2C_MAX_DEVS         3
extern uint32_t pios_i2c_mag_pressure_adapter_id;
#define PIOS_I2C_MAIN_ADAPTER     (pios_i2c_mag_pressure_adapter_id)
extern uint32_t pios_i2c_flexiport_adapter_id;
#define PIOS_I2C_FLEXI_ADAPTER    (pios_i2c_flexiport_adapter_id)
#define PIOS_I2C_ETASV3_ADAPTER   (PIOS_I2C_FLEXI_ADAPTER)
#define PIOS_I2C_MS4525DO_ADAPTER (PIOS_I2C_FLEXI_ADAPTER)

// -------------------------
// PIOS_USART
//
// See also pios_board.c
// -------------------------
#define PIOS_USART_MAX_DEVS 5

// -------------------------
// PIOS_COM
//
// See also pios_board.c
// -------------------------
#define PIOS_COM_MAX_DEVS 4
// -------------------------
// Packet Handler
// -------------------------
#define RS_ECC_NPARITY          4
#define PIOS_PH_MAX_PACKET      255
#define PIOS_PH_WIN_SIZE        3
#define PIOS_PH_MAX_CONNECTIONS 1
extern uint32_t pios_packet_handler;
#define PIOS_PACKET_HANDLER     (pios_packet_handler)

// ------------------------
// TELEMETRY
// ------------------------
#define TELEM_QUEUE_SIZE        80
#define PIOS_TELEM_STACK_SIZE   800

// -------------------------
// 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 SYSCLK_FREQ
// 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 = 2
#define PIOS_PERIPHERAL_APB1_CLOCK PIOS_SYSCLK

// Peripherals belonging to APB2
// SDIO			|EXTI				|SYSCFG			|SPI1
// ADC1,2,3
// USART1,6
// TIM1,8,9,10,11
//
// Default APB2 Prescaler = 1
//
#define PIOS_PERIPHERAL_APB2_CLOCK   PIOS_SYSCLK

// -------------------------
// 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_RCVR
// See also pios_board.c
// ------------------------
#define PIOS_RCVR_MAX_DEVS           3
#define PIOS_RCVR_MAX_CHANNELS       12
#define PIOS_GCSRCVR_TIMEOUT_MS      100
#define PIOS_RFM22B_RCVR_TIMEOUT_MS  200
#define PIOS_OPLINK_RCVR_TIMEOUT_MS  100

// -------------------------
// Receiver PPM input
// -------------------------
#define PIOS_PPM_MAX_DEVS            1
#define PIOS_PPM_NUM_INPUTS          16

// -------------------------
// Receiver PWM input
// -------------------------
#define PIOS_PWM_MAX_DEVS            1
#define PIOS_PWM_NUM_INPUTS          8

// -------------------------
// Receiver SPEKTRUM input
// -------------------------
#define PIOS_SPEKTRUM_MAX_DEVS       2
#define PIOS_SPEKTRUM_NUM_INPUTS     12

// -------------------------
// Receiver S.Bus input
// -------------------------
#define PIOS_SBUS_MAX_DEVS           1
#define PIOS_SBUS_NUM_INPUTS         (16 + 2)

// -------------------------
// Receiver HOTT input
// -------------------------
#define PIOS_HOTT_MAX_DEVS           1
#define PIOS_HOTT_NUM_INPUTS         32

// -------------------------
// Receiver EX.Bus input
// -------------------------
#define PIOS_EXBUS_MAX_DEVS          1
#define PIOS_EXBUS_NUM_INPUTS        16

// -------------------------
// Receiver Multiplex SRXL input
// -------------------------
#define PIOS_SRXL_MAX_DEVS           1
#define PIOS_SRXL_NUM_INPUTS         16

// -------------------------
// Receiver DSM input
// -------------------------
#define PIOS_DSM_MAX_DEVS            2
#define PIOS_DSM_NUM_INPUTS          12

// -------------------------
// Receiver FlySky IBus input
// -------------------------
#define PIOS_IBUS_MAX_DEVS           1
#define PIOS_IBUS_NUM_INPUTS         10

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

// --------------------------
// Timer controller settings
// --------------------------
#define PIOS_TIM_MAX_DEVS            6

// -------------------------
// ADC
// PIOS_ADC_PinGet(0) = Current sensor
// PIOS_ADC_PinGet(1) = Voltage sensor
// PIOS_ADC_PinGet(4) = VREF
// PIOS_ADC_PinGet(5) = Temperature sensor
// -------------------------
#define PIOS_DMA_PIN_CONFIG                                                 \
    {                                                                       \
        { GPIOB, GPIO_Pin_1, ADC_Channel_9, false }, /* FLEXI-IO PIN 4     */ \
        { GPIOB, GPIO_Pin_0, ADC_Channel_8, false }, /* FLEXI-IO PIN 5     */ \
        { GPIOA, GPIO_Pin_7, ADC_Channel_7, false }, /* FLEXI-IO PIN 6     */ \
        { GPIOA, GPIO_Pin_6, ADC_Channel_6, false }, /* FLEXI-IO PIN 7     */ \
        { GPIOA, GPIO_Pin_5, ADC_Channel_5, false }, /* FLEXI-IO PIN 8     */ \
                                                                            \
        { GPIOA, GPIO_Pin_0, ADC_Channel_0, false }, /* SERVO PIN 5        */ \
        { GPIOA, GPIO_Pin_1, ADC_Channel_1, false }, /* SERVO PIN 6        */ \
                                                                            \
        { NULL, 0, ADC_Channel_Vrefint, false }, /* Voltage reference  */ \
        { NULL, 0, ADC_Channel_TempSensor, false }, /* Temperature sensor */ \
    }

/* 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     9
#define PIOS_ADC_MAX_OVERSAMPLING 2
#define PIOS_ADC_USE_ADC2         0

#define PIOS_ADC_USE_TEMP_SENSOR
#define PIOS_ADC_TEMPERATURE_PIN  8

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

#endif /* PIOS_BOARD_H */

/**
 * @}
 * @}
 */