diff --git a/flight/PipXtreme/inc/pios_board.h b/flight/PipXtreme/inc/pios_board.h new file mode 100644 index 000000000..8c2d05bb9 --- /dev/null +++ b/flight/PipXtreme/inc/pios_board.h @@ -0,0 +1,384 @@ + /** + ****************************************************************************** + * + * @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 PIOS_BOARD_H +#define PIOS_BOARD_H + +// ***************************************************************** +// Timers and Channels Used + +/* +Timer | Channel 1 | Channel 2 | Channel 3 | Channel 4 +------+-----------+-----------+-----------+---------- +TIM1 | | | | +TIM2 | --------------- DELAY ---------------------- +TIM3 | --------------- Timer Interrupt ------------ +TIM4 | --------------- STOPWATCH ------------------ +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 FUNC_ID 3 +#define HW_VERSION 21 +#define BOOTLOADER_VERSION 0 +#define MEM_SIZE 0x20000 //128K +#define SIZE_OF_DESCRIPTION 100 +#define START_OF_USER_CODE (uint32_t)0x08002000 +#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 + + +// ***************************************************************** +// System Settings + +#define PIOS_MASTER_CLOCK 72000000ul +#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... + +// ***************************************************************** +// PIOS_LED + +#define PIOS_LED_LED1_GPIO_PORT GPIOA // USB Activity LED +#define PIOS_LED_LED1_GPIO_PIN GPIO_Pin_3 +#define PIOS_LED_LED1_GPIO_CLK RCC_APB2Periph_GPIOA + +#define PIOS_LED_LED2_GPIO_PORT GPIOB // LINK LED +#define PIOS_LED_LED2_GPIO_PIN GPIO_Pin_5 +#define PIOS_LED_LED2_GPIO_CLK RCC_APB2Periph_GPIOB + +#define PIOS_LED_LED3_GPIO_PORT GPIOB // RX LED +#define PIOS_LED_LED3_GPIO_PIN GPIO_Pin_6 +#define PIOS_LED_LED3_GPIO_CLK RCC_APB2Periph_GPIOB + +#define PIOS_LED_LED4_GPIO_PORT GPIOB // TX LED +#define PIOS_LED_LED4_GPIO_PIN GPIO_Pin_7 +#define PIOS_LED_LED4_GPIO_CLK RCC_APB2Periph_GPIOB + +#define PIOS_LED_NUM 4 +#define PIOS_LED_PORTS { PIOS_LED_LED1_GPIO_PORT, PIOS_LED_LED2_GPIO_PORT, PIOS_LED_LED3_GPIO_PORT, PIOS_LED_LED4_GPIO_PORT } +#define PIOS_LED_PINS { PIOS_LED_LED1_GPIO_PIN, PIOS_LED_LED2_GPIO_PIN, PIOS_LED_LED3_GPIO_PIN, PIOS_LED_LED4_GPIO_PIN } +#define PIOS_LED_CLKS { PIOS_LED_LED1_GPIO_CLK, PIOS_LED_LED2_GPIO_CLK, PIOS_LED_LED3_GPIO_CLK, PIOS_LED_LED4_GPIO_CLK } + +#define USB_LED_ON PIOS_LED_On(LED1) +#define USB_LED_OFF PIOS_LED_Off(LED1) +#define USB_LED_TOGGLE PIOS_LED_Toggle(LED1) + +#define LINK_LED_ON PIOS_LED_On(LED2) +#define LINK_LED_OFF PIOS_LED_Off(LED2) +#define LINK_LED_TOGGLE PIOS_LED_Toggle(LED2) + +#define RX_LED_ON PIOS_LED_On(LED3) +#define RX_LED_OFF PIOS_LED_Off(LED3) +#define RX_LED_TOGGLE PIOS_LED_Toggle(LED3) + +#define TX_LED_ON PIOS_LED_On(LED4) +#define TX_LED_OFF PIOS_LED_Off(LED4) +#define TX_LED_TOGGLE PIOS_LED_Toggle(LED4) + +// ***************************************************************** +// Delay Timer + +#define PIOS_DELAY_TIMER TIM2 +#define PIOS_DELAY_TIMER_RCC_FUNC RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE) + +// ***************************************************************** +// Timer interrupt + +#define TIMER_INT_TIMER TIM3 +#define TIMER_INT_FUNC TIM3_IRQHandler +#define TIMER_INT_PRIORITY 2 + +// ***************************************************************** +// Stop watch timer + +#define STOPWATCH_TIMER TIM4 + +// ***************************************************************** +// SPI +// +// See also pios_board.c + +#define PIOS_SPI_PORT 0 + +// ***************************************************************** +// PIOS_USART + +#define PIOS_USART_RX_BUFFER_SIZE 512 +#define PIOS_USART_TX_BUFFER_SIZE 512 + +#define PIOS_COM_SERIAL 0 +//#define PIOS_COM_DEBUG PIOS_COM_SERIAL // comment this out if you don't want debug text sent out on the serial port + +#define PIOS_USART_BAUDRATE 57600 +//#define PIOS_USART_BAUDRATE 115200 + +#if defined(PIOS_INCLUDE_USB_HID) + #define PIOS_COM_TELEM_USB 1 +#endif + +#if defined(PIOS_COM_DEBUG) + #define DEBUG_PRINTF(...) PIOS_COM_SendFormattedString(PIOS_COM_DEBUG, __VA_ARGS__) +// #define DEBUG_PRINTF(...) PIOS_COM_SendFormattedStringNonBlocking(PIOS_COM_DEBUG, __VA_ARGS__) +#else + #define DEBUG_PRINTF(...) +#endif + +// ***************************************************************** +// ADC + +// PIOS_ADC_PinGet(0) = Temperature Sensor (On-board) +// PIOS_ADC_PinGet(1) = PSU Voltage + +#define PIOS_ADC_OVERSAMPLING_RATE 2 + +#define PIOS_ADC_USE_TEMP_SENSOR 1 +#define PIOS_ADC_TEMP_SENSOR_ADC ADC1 +#define PIOS_ADC_TEMP_SENSOR_ADC_CHANNEL 16 // Temperature sensor channel +//#define PIOS_ADC_TEMP_SENSOR_ADC_CHANNEL 17 // VREF channel + +#define PIOS_ADC_PIN1_GPIO_PORT GPIOB // Port B (PSU Voltage) +#define PIOS_ADC_PIN1_GPIO_PIN GPIO_Pin_1 // PB1 .. ADC12_IN9 +#define PIOS_ADC_PIN1_GPIO_CHANNEL ADC_Channel_9 +#define PIOS_ADC_PIN1_ADC ADC2 +#define PIOS_ADC_PIN1_ADC_NUMBER 1 + +#define PIOS_ADC_NUM_PINS 1 + +#define PIOS_ADC_PORTS { PIOS_ADC_PIN1_GPIO_PORT } +#define PIOS_ADC_PINS { PIOS_ADC_PIN1_GPIO_PIN } +#define PIOS_ADC_CHANNELS { PIOS_ADC_PIN1_GPIO_CHANNEL } +#define PIOS_ADC_MAPPING { PIOS_ADC_PIN1_ADC } +#define PIOS_ADC_CHANNEL_MAPPING { PIOS_ADC_PIN1_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_Div2 // ADC clock = PCLK2/2 +//#define PIOS_ADC_ADCCLK RCC_PCLK2_Div4 // ADC clock = PCLK2/4 +//#define PIOS_ADC_ADCCLK RCC_PCLK2_Div6 // ADC clock = PCLK2/6 +#define PIOS_ADC_ADCCLK RCC_PCLK2_Div8 // ADC clock = PCLK2/8 +//#define PIOS_ADC_SAMPLE_TIME ADC_SampleTime_1Cycles5 +//#define PIOS_ADC_SAMPLE_TIME ADC_SampleTime_7Cycles5 +//#define PIOS_ADC_SAMPLE_TIME ADC_SampleTime_13Cycles5 +//#define PIOS_ADC_SAMPLE_TIME ADC_SampleTime_28Cycles5 +//#define PIOS_ADC_SAMPLE_TIME ADC_SampleTime_41Cycles5 +//#define PIOS_ADC_SAMPLE_TIME ADC_SampleTime_55Cycles5 +//#define PIOS_ADC_SAMPLE_TIME ADC_SampleTime_71Cycles5 +#define PIOS_ADC_SAMPLE_TIME ADC_SampleTime_239Cycles5 + /* Sample time: */ + /* With an ADCCLK = 14 MHz and a sampling time of 293.5 cycles: */ + /* Tconv = 239.5 + 12.5 = 252 cycles = 18�s */ + /* (1 / (ADCCLK / CYCLES)) = Sample Time (�S) */ +#define PIOS_ADC_IRQ_PRIO 3 + +// ***************************************************************** +// GPIO output pins + +// GPIO_Mode_Out_OD Open Drain Output +// GPIO_Mode_Out_PP Push-Pull Output +// GPIO_Mode_AF_OD Open Drain Output Alternate-Function +// GPIO_Mode_AF_PP Push-Pull Output Alternate-Function + +// Serial port RTS line +#define PIOS_GPIO_OUT_0_PORT GPIOB +#define PIOS_GPIO_OUT_0_PIN GPIO_Pin_15 +#define PIOS_GPIO_OUT_0_GPIO_CLK RCC_APB2Periph_GPIOB + +// RF module chip-select line +#define PIOS_GPIO_OUT_1_PORT GPIOA +#define PIOS_GPIO_OUT_1_PIN GPIO_Pin_4 +#define PIOS_GPIO_OUT_1_GPIO_CLK RCC_APB2Periph_GPIOA + +// EEPROM chip-select line +#define PIOS_GPIO_OUT_2_PORT GPIOA +#define PIOS_GPIO_OUT_2_PIN GPIO_Pin_1 +#define PIOS_GPIO_OUT_2_GPIO_CLK RCC_APB2Periph_GPIOA +/* +// SPI-1 SCK line +#define PIOS_GPIO_OUT_3_PORT GPIOA +#define PIOS_GPIO_OUT_3_PIN GPIO_Pin_5 +#define PIOS_GPIO_OUT_3_GPIO_CLK RCC_APB2Periph_GPIOA + +// SPI-1 MOSI line +#define PIOS_GPIO_OUT_4_PORT GPIOA +#define PIOS_GPIO_OUT_4_PIN GPIO_Pin_7 +#define PIOS_GPIO_OUT_4_GPIO_CLK RCC_APB2Periph_GPIOA +*/ +#define PIOS_GPIO_NUM 3 +#define PIOS_GPIO_PORTS { PIOS_GPIO_OUT_0_PORT, PIOS_GPIO_OUT_1_PORT, PIOS_GPIO_OUT_2_PORT, } +#define PIOS_GPIO_PINS { PIOS_GPIO_OUT_0_PIN, PIOS_GPIO_OUT_1_PIN, PIOS_GPIO_OUT_2_PIN, } +#define PIOS_GPIO_CLKS { PIOS_GPIO_OUT_0_GPIO_CLK, PIOS_GPIO_OUT_1_GPIO_CLK, PIOS_GPIO_OUT_2_GPIO_CLK } + +#define SERIAL_RTS_ENABLE PIOS_GPIO_Enable(0) +#define SERIAL_RTS_SET PIOS_GPIO_Off(0) +#define SERIAL_RTS_CLEAR PIOS_GPIO_On(0) + +#define RF_CS_ENABLE PIOS_GPIO_Enable(1) +#define RF_CS_HIGH PIOS_GPIO_Off(1) +#define RF_CS_LOW PIOS_GPIO_On(1) + +#define EE_CS_ENABLE PIOS_GPIO_Enable(2) +#define EE_CS_HIGH PIOS_GPIO_Off(2) +#define EE_CS_LOW PIOS_GPIO_On(2) +/* +#define SPI1_SCK_ENABLE PIOS_GPIO_Enable(3) +#define SPI1_SCK_HIGH PIOS_GPIO_Off(3) +#define SPI1_SCK_LOW PIOS_GPIO_On(3) + +#define SPI1_MOSI_ENABLE PIOS_GPIO_Enable(4) +#define SPI1_MOSI_HIGH PIOS_GPIO_Off(4) +#define SPI1_MOSI_LOW PIOS_GPIO_On(4) +*/ +// ***************************************************************** +// GPIO input pins + +// GPIO_Mode_AIN Analog Input +// GPIO_Mode_IN_FLOATING Input Floating +// GPIO_Mode_IPD Input Pull-Down +// GPIO_Mode_IPU Input Pull-up + +// API mode line +#define GPIO_IN_0_PORT GPIOB +#define GPIO_IN_0_PIN GPIO_Pin_13 +#define GPIO_IN_0_MODE GPIO_Mode_IPU + +// Serial port CTS line +#define GPIO_IN_1_PORT GPIOB +#define GPIO_IN_1_PIN GPIO_Pin_14 +#define GPIO_IN_1_MODE GPIO_Mode_IPU + +// VBUS sense line +#define GPIO_IN_2_PORT GPIOA +#define GPIO_IN_2_PIN GPIO_Pin_8 +#define GPIO_IN_2_MODE GPIO_Mode_IN_FLOATING + +// 868MHz jumper option +#define GPIO_IN_3_PORT GPIOB +#define GPIO_IN_3_PIN GPIO_Pin_8 +#define GPIO_IN_3_MODE GPIO_Mode_IPU + +// 915MHz jumper option +#define GPIO_IN_4_PORT GPIOB +#define GPIO_IN_4_PIN GPIO_Pin_9 +#define GPIO_IN_4_MODE GPIO_Mode_IPU + +// RF INT line +#define GPIO_IN_5_PORT GPIOA +#define GPIO_IN_5_PIN GPIO_Pin_2 +#define GPIO_IN_5_MODE GPIO_Mode_IN_FLOATING + +// RF misc line +#define GPIO_IN_6_PORT GPIOB +#define GPIO_IN_6_PIN GPIO_Pin_0 +#define GPIO_IN_6_MODE GPIO_Mode_IN_FLOATING + +#define GPIO_IN_NUM 7 +#define GPIO_IN_PORTS { GPIO_IN_0_PORT, GPIO_IN_1_PORT, GPIO_IN_2_PORT, GPIO_IN_3_PORT, GPIO_IN_4_PORT, GPIO_IN_5_PORT, GPIO_IN_6_PORT } +#define GPIO_IN_PINS { GPIO_IN_0_PIN, GPIO_IN_1_PIN, GPIO_IN_2_PIN, GPIO_IN_3_PIN, GPIO_IN_4_PIN, GPIO_IN_5_PIN, GPIO_IN_6_PIN } +#define GPIO_IN_MODES { GPIO_IN_0_MODE, GPIO_IN_1_MODE, GPIO_IN_2_MODE, GPIO_IN_3_MODE, GPIO_IN_4_MODE, GPIO_IN_5_MODE, GPIO_IN_6_MODE } + +#define API_MODE_PIN 0 +#define SERIAL_CTS_PIN 1 +#define VBUS_SENSE_PIN 2 +#define _868MHz_PIN 3 +#define _915MHz_PIN 4 +#define RF_INT_PIN 5 +#define RF_MISC_PIN 6 + +// ***************************************************************** +// USB + +#if defined(PIOS_INCLUDE_USB_HID) + #define PIOS_USB_ENABLED 1 + #define PIOS_USB_DETECT_GPIO_PORT GPIO_IN_2_PORT + #define PIOS_USB_DETECT_GPIO_PIN GPIO_IN_2_PIN + #define PIOS_USB_DETECT_EXTI_LINE EXTI_Line4 + #define PIOS_IRQ_USB_PRIORITY 8 +#endif + +// ***************************************************************** +// RFM22 + +//#define RFM22_EXT_INT_USE + +#define RFM22_PIOS_SPI PIOS_SPI_PORT // SPIx + +#if defined(RFM22_EXT_INT_USE) + #define RFM22_EXT_INT_PORT_SOURCE GPIO_PortSourceGPIOA + #define RFM22_EXT_INT_PIN_SOURCE GPIO_PinSource2 + + #define RFM22_EXT_INT_LINE EXTI_Line2 + #define RFM22_EXT_INT_IRQn EXTI2_IRQn + #define RFM22_EXT_INT_FUNC EXTI2_IRQHandler + + #define RFM22_EXT_INT_PRIORITY 1 +#endif + +// ***************************************************************** + +#endif /* PIOS_BOARD_H */