mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-12-11 19:24:10 +01:00
247 lines
9.0 KiB
C
247 lines
9.0 KiB
C
|
/**
|
||
|
|
******************************************************************************
|
||
|
|
* @addtogroup OpenPilotSystem OpenPilot System
|
||
|
|
* @{
|
||
|
|
* @addtogroup OpenPilotCore OpenPilot Core
|
||
|
|
* @{
|
||
|
|
* @file pios_board.h
|
||
|
|
* @author David "Buzz" Carlson (buzz@chebuzz.com)
|
||
|
|
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
|
||
|
|
* @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 STM3210E_INS_H_
|
||
|
|
#define STM3210E_INS_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 FUNC_ID 1
|
||
|
|
//#define HW_VERSION 01
|
||
|
|
|
||
|
|
#define BOOTLOADER_VERSION 0
|
||
|
|
#define BOARD_TYPE 0x05 // INS board
|
||
|
|
#define BOARD_REVISION 0x01 // Beta version
|
||
|
|
//#define HW_VERSION (BOARD_TYPE << 8) | BOARD_REVISION
|
||
|
|
|
||
|
|
#define MEM_SIZE 524288 //512K
|
||
|
|
#define SIZE_OF_DESCRIPTION (uint8_t) 100
|
||
|
|
#define START_OF_USER_CODE (uint32_t)0x08005000//REMEMBER SET ALSO IN link_stm32f10x_HD_BL.ld
|
||
|
|
#define SIZE_OF_CODE (uint32_t) (MEM_SIZE-(START_OF_USER_CODE-0x08000000)-SIZE_OF_DESCRIPTION)
|
||
|
|
|
||
|
|
#ifdef STM32F10X_HD
|
||
|
|
#define HW_TYPE 0 //0=high_density 1=medium_density;
|
||
|
|
#elif STM32F10X_MD
|
||
|
|
#define HW_TYPE 1 //0=high_density 1=medium_density;
|
||
|
|
#endif
|
||
|
|
#define BOARD_READABLE TRUE
|
||
|
|
#define BOARD_WRITABLA TRUE
|
||
|
|
#define MAX_DEL_RETRYS 3
|
||
|
|
|
||
|
|
//------------------------
|
||
|
|
// PIOS_LED
|
||
|
|
//------------------------
|
||
|
|
#define PIOS_LED_LED1_GPIO_PORT GPIOA
|
||
|
|
#define PIOS_LED_LED1_GPIO_PIN GPIO_Pin_3
|
||
|
|
#define PIOS_LED_LED1_GPIO_CLK RCC_APB2Periph_GPIOA
|
||
|
|
#define PIOS_LED_LED2_GPIO_PORT GPIOA
|
||
|
|
#define PIOS_LED_LED2_GPIO_PIN GPIO_Pin_2
|
||
|
|
#define PIOS_LED_LED2_GPIO_CLK RCC_APB2Periph_GPIOA
|
||
|
|
#define PIOS_LED_NUM 2
|
||
|
|
#define PIOS_LED_PORTS { PIOS_LED_LED1_GPIO_PORT, PIOS_LED_LED2_GPIO_PORT }
|
||
|
|
#define PIOS_LED_PINS { PIOS_LED_LED1_GPIO_PIN, PIOS_LED_LED2_GPIO_PIN }
|
||
|
|
#define PIOS_LED_CLKS { PIOS_LED_LED1_GPIO_CLK, PIOS_LED_LED2_GPIO_CLK }
|
||
|
|
|
||
|
|
//------------------------
|
||
|
|
// PIOS_SPI
|
||
|
|
// See also pios_board.c
|
||
|
|
//------------------------
|
||
|
|
#define PIOS_SPI_MAX_DEVS 2
|
||
|
|
|
||
|
|
//------------------------
|
||
|
|
// PIOS_I2C
|
||
|
|
// See also pios_board.c
|
||
|
|
//------------------------
|
||
|
|
#define PIOS_I2C_MAX_DEVS 3
|
||
|
|
extern uint32_t pios_i2c_pres_mag_adapter_id;
|
||
|
|
#define PIOS_I2C_MAIN_ADAPTER (pios_i2c_pres_mag_adapter_id)
|
||
|
|
extern uint32_t pios_i2c_gyro_adapter_id;
|
||
|
|
#define PIOS_I2C_GYRO_ADAPTER (pios_i2c_gyro_adapter_id)
|
||
|
|
|
||
|
|
//------------------------
|
||
|
|
// PIOS_BMP085
|
||
|
|
//------------------------
|
||
|
|
#define PIOS_BMP085_EOC_GPIO_PORT GPIOC
|
||
|
|
#define PIOS_BMP085_EOC_GPIO_PIN GPIO_Pin_2
|
||
|
|
#define PIOS_BMP085_EOC_PORT_SOURCE GPIO_PortSourceGPIOC
|
||
|
|
#define PIOS_BMP085_EOC_PIN_SOURCE GPIO_PinSource2
|
||
|
|
#define PIOS_BMP085_EOC_CLK RCC_APB2Periph_GPIOC
|
||
|
|
#define PIOS_BMP085_EOC_EXTI_LINE EXTI_Line2
|
||
|
|
#define PIOS_BMP085_EOC_IRQn EXTI15_10_IRQn
|
||
|
|
#define PIOS_BMP085_EOC_PRIO PIOS_IRQ_PRIO_LOW
|
||
|
|
#define PIOS_BMP085_XCLR_GPIO_PORT GPIOC
|
||
|
|
#define PIOS_BMP085_XCLR_GPIO_PIN GPIO_Pin_1
|
||
|
|
#define PIOS_BMP085_OVERSAMPLING 3
|
||
|
|
|
||
|
|
//-------------------------
|
||
|
|
// PIOS_USART
|
||
|
|
//
|
||
|
|
// See also pios_board.c
|
||
|
|
//-------------------------
|
||
|
|
#define PIOS_USART_MAX_DEVS 2
|
||
|
|
|
||
|
|
#define PIOS_USART_RX_BUFFER_SIZE 256
|
||
|
|
#define PIOS_USART_TX_BUFFER_SIZE 256
|
||
|
|
|
||
|
|
//-------------------------
|
||
|
|
// PIOS_COM
|
||
|
|
//
|
||
|
|
// See also pios_board.c
|
||
|
|
//-------------------------
|
||
|
|
#define PIOS_COM_MAX_DEVS 2
|
||
|
|
|
||
|
|
#define PIOS_COM_GPS_BAUDRATE 57600
|
||
|
|
extern uint32_t pios_com_gps_id;
|
||
|
|
#define PIOS_COM_GPS (pios_com_gps_id)
|
||
|
|
|
||
|
|
#ifdef PIOS_ENABLE_AUX_UART
|
||
|
|
#define PIOS_COM_AUX_BAUDRATE 57600
|
||
|
|
extern uint32_t pios_com_aux_id;
|
||
|
|
#define PIOS_COM_AUX (pios_com_aux_id)
|
||
|
|
#define PIOS_COM_DEBUG PIOS_COM_AUX
|
||
|
|
#endif
|
||
|
|
|
||
|
|
//-------------------------
|
||
|
|
// Delay Timer
|
||
|
|
//-------------------------
|
||
|
|
#define PIOS_DELAY_TIMER TIM2
|
||
|
|
#define PIOS_DELAY_TIMER_RCC_FUNC RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE)
|
||
|
|
|
||
|
|
//-------------------------
|
||
|
|
// System Settings
|
||
|
|
//-------------------------
|
||
|
|
#define PIOS_MASTER_CLOCK 72000000
|
||
|
|
#define PIOS_PERIPHERAL_CLOCK (PIOS_MASTER_CLOCK / 2)
|
||
|
|
#if defined(USE_BOOTLOADER)
|
||
|
|
#define PIOS_NVIC_VECTTAB_FLASH (START_OF_USER_CODE)
|
||
|
|
#else
|
||
|
|
#define PIOS_NVIC_VECTTAB_FLASH ((uint32_t)0x08000000)
|
||
|
|
#endif
|
||
|
|
|
||
|
|
//-------------------------
|
||
|
|
// 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...
|
||
|
|
|
||
|
|
//-------------------------
|
||
|
|
// ADC
|
||
|
|
// None.
|
||
|
|
//-------------------------
|
||
|
|
|
||
|
|
|
||
|
|
//-------------------------
|
||
|
|
// GPIO
|
||
|
|
// Not used, but pios_gpio.c expects something
|
||
|
|
//-------------------------
|
||
|
|
#define PIOS_GPIO_1_PORT GPIOA
|
||
|
|
#define PIOS_GPIO_1_PIN GPIO_Pin_1
|
||
|
|
#define PIOS_GPIO_1_GPIO_CLK RCC_APB2Periph_GPIOA
|
||
|
|
|
||
|
|
#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 PIOS_BMA_ENABLE PIOS_SPI_RC_PinSet(PIOS_SPI_ACCEL,0)
|
||
|
|
#define PIOS_BMA_DISABLE PIOS_SPI_RC_PinSet(PIOS_SPI_ACCEL,1)
|
||
|
|
|
||
|
|
//------------------------
|
||
|
|
// PIOS_HMC5883
|
||
|
|
//------------------------
|
||
|
|
#define PIOS_HMC5883_DRDY_GPIO_PORT GPIOB
|
||
|
|
#define PIOS_HMC5883_DRDY_GPIO_PIN GPIO_Pin_8
|
||
|
|
#define PIOS_HMC5883_DRDY_PORT_SOURCE GPIO_PortSourceGPIOB
|
||
|
|
#define PIOS_HMC5883_DRDY_PIN_SOURCE GPIO_PinSource8
|
||
|
|
#define PIOS_HMC5883_DRDY_CLK RCC_APB2Periph_GPIOB
|
||
|
|
#define PIOS_HMC5883_DRDY_EXTI_LINE EXTI_Line8
|
||
|
|
#define PIOS_HMC5883_DRDY_IRQn EXTI9_5_IRQn
|
||
|
|
#define PIOS_HMC5883_DRDY_PRIO PIOS_IRQ_PRIO_LOW
|
||
|
|
|
||
|
|
//------------------------
|
||
|
|
// PIOS_IMU3000
|
||
|
|
//------------------------
|
||
|
|
#define PIOS_IMU3000_INT_GPIO_PORT GPIOB
|
||
|
|
#define PIOS_IMU3000_INT_GPIO_PIN GPIO_Pin_1
|
||
|
|
#define PIOS_IMU3000_INT_PORT_SOURCE GPIO_PortSourceGPIOB
|
||
|
|
#define PIOS_IMU3000_INT_PIN_SOURCE GPIO_PinSource1
|
||
|
|
#define PIOS_IMU3000_INT_CLK RCC_APB2Periph_GPIOB
|
||
|
|
#define PIOS_IMU3000_INT_EXTI_LINE EXTI_Line1
|
||
|
|
#define PIOS_IMU3000_INT_IRQn EXTI1_IRQn
|
||
|
|
#define PIOS_IMU3000_INT_PRIO PIOS_IRQ_PRIO_HIGH
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
#endif /* STM3210E_INS_H_ */
|
||
|
|
/**
|
||
|
|
* @}
|
||
|
|
* @}
|
||
|
|
*/
|