rooty/LibrePilot
1
0
Fork 0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2024-12-01 09:24:10 +01:00
Code Issues Releases Activity

Merged in mindnever/librepilot/LP-415_pios_servo_Add_functions_to_support_esc_passthrough (pull request #334)

Browse Source 
LP-415 pios servo add functions to support esc passthrough
This commit is contained in:
Lalanne Laurent 2016-12-28 14:20:28 +01:00
commit c2cf44f8d8
7 changed files with 168 additions and 370 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

1
flight/make/apps-defs.mk
View File

@ -96,6 +96,7 @@ SRC += $(PIOSCOMMON)/pios_exbus.c
SRC += $(PIOSCOMMON)/pios_ibus.c
SRC += $(PIOSCOMMON)/pios_sdcard.c
SRC += $(PIOSCOMMON)/pios_sensors.c
SRC += $(PIOSCOMMON)/pios_servo.c
SRC += $(PIOSCOMMON)/pios_openlrs.c
SRC += $(PIOSCOMMON)/pios_openlrs_rcvr.c

175
flight/pios/stm32f4xx/pios_servo.c → flight/pios/common/pios_servo.c
View File

@ -7,7 +7,8 @@
* @{
*
* @file pios_servo.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2016.
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief RC Servo routines (STM32 dependent)
* @see The GNU Public License (GPL) Version 3
*
@ -50,19 +51,98 @@ static TIM_TypeDef *pios_servo_bank_timer[PIOS_SERVO_BANKS] = { 0 };
// index of bank used for each pin
static uint8_t *pios_servo_pin_bank;
static bool pios_servo_enabled = true;
#define PIOS_SERVO_TIMER_CLOCK 1000000
#define PIOS_SERVO_SAFE_MARGIN 50
extern void PIOS_Servo_Disable()
{
if (!servo_cfg) {
return;
}
pios_servo_enabled = false;
/* NOTE: Following will stop pulses and force low level on output pins.
* this is ok with ESC and servos, but brushed motors could be in trouble
* if using inverted setup */
for (uint8_t i = 0; (i < servo_cfg->num_channels); i++) {
const struct pios_tim_channel *chan = &servo_cfg->channels[i];
GPIO_InitTypeDef init = chan->pin.init;
#if defined(STM32F40_41xxx) || defined(STM32F446xx) || defined(STM32F411xE)
init.GPIO_Mode = GPIO_Mode_OUT;
#elif defined(STM32F10X_MD)
init.GPIO_Mode = GPIO_Mode_Out_PP;
#else
#error Unsupported MCU
#endif
GPIO_Init(chan->pin.gpio, &init);
GPIO_ResetBits(chan->pin.gpio, chan->pin.init.GPIO_Pin);
}
}
extern void PIOS_Servo_Enable()
{
if (!servo_cfg) {
return;
}
for (uint8_t i = 0; (i < servo_cfg->num_channels); i++) {
const struct pios_tim_channel *chan = &servo_cfg->channels[i];
GPIO_Init(chan->pin.gpio, &chan->pin.init);
#if defined(STM32F40_41xxx) || defined(STM32F446xx) || defined(STM32F411xE)
GPIO_PinAFConfig(chan->pin.gpio, chan->pin.pin_source, chan->remap);
#elif defined(STM32F10X_MD)
if (chan->remap) {
GPIO_PinRemapConfig(chan->remap, ENABLE);
}
#else
#error Unsupported MCU
#endif
/* Set up for output compare function */
switch (chan->timer_chan) {
case TIM_Channel_1:
TIM_OC1Init(chan->timer, &servo_cfg->tim_oc_init);
TIM_OC1PreloadConfig(chan->timer, TIM_OCPreload_Enable);
break;
case TIM_Channel_2:
TIM_OC2Init(chan->timer, &servo_cfg->tim_oc_init);
TIM_OC2PreloadConfig(chan->timer, TIM_OCPreload_Enable);
break;
case TIM_Channel_3:
TIM_OC3Init(chan->timer, &servo_cfg->tim_oc_init);
TIM_OC3PreloadConfig(chan->timer, TIM_OCPreload_Enable);
break;
case TIM_Channel_4:
TIM_OC4Init(chan->timer, &servo_cfg->tim_oc_init);
TIM_OC4PreloadConfig(chan->timer, TIM_OCPreload_Enable);
break;
}
}
for (uint8_t i = 0; (i < PIOS_SERVO_BANKS); i++) {
TIM_TypeDef *timer = pios_servo_bank_timer[i];
if (timer && (pios_servo_bank_mode[i] != PIOS_SERVO_BANK_MODE_NONE)) {
TIM_SelectOnePulseMode(timer, TIM_OPMode_Repetitive);
TIM_Cmd(timer, ENABLE);
}
}
pios_servo_enabled = true;
}
/**
* Initialise Servos
*/
int32_t PIOS_Servo_Init(const struct pios_servo_cfg *cfg)
{
uint32_t tim_id;
if (PIOS_TIM_InitChannels(&tim_id, cfg->channels, cfg->num_channels, NULL, 0)) {
return -1;
}
/* Store away the requested configuration */
servo_cfg = cfg;
pios_servo_pin_bank = pios_malloc(sizeof(uint8_t) * cfg->num_channels);
@ -91,28 +171,10 @@ int32_t PIOS_Servo_Init(const struct pios_servo_cfg *cfg)
bank++;
}
/* Set up for output compare function */
switch (chan->timer_chan) {
case TIM_Channel_1:
TIM_OC1Init(chan->timer, &servo_cfg->tim_oc_init);
TIM_OC1PreloadConfig(chan->timer, TIM_OCPreload_Enable);
break;
case TIM_Channel_2:
TIM_OC2Init(chan->timer, &servo_cfg->tim_oc_init);
TIM_OC2PreloadConfig(chan->timer, TIM_OCPreload_Enable);
break;
case TIM_Channel_3:
TIM_OC3Init(chan->timer, &servo_cfg->tim_oc_init);
TIM_OC3PreloadConfig(chan->timer, TIM_OCPreload_Enable);
break;
case TIM_Channel_4:
TIM_OC4Init(chan->timer, &servo_cfg->tim_oc_init);
TIM_OC4PreloadConfig(chan->timer, TIM_OCPreload_Enable);
break;
}
}
PIOS_Servo_Enable();
return 0;
}
@ -121,28 +183,11 @@ void PIOS_Servo_SetBankMode(uint8_t bank, uint8_t mode)
PIOS_Assert(bank < PIOS_SERVO_BANKS);
pios_servo_bank_mode[bank] = mode;
if (pios_servo_bank_timer[bank]) {
for (uint8_t i = 0; (i < servo_cfg->num_channels); i++) {
if (pios_servo_pin_bank[i] == bank) {
const struct pios_tim_channel *chan = &servo_cfg->channels[i];
/* Set up for output compare function */
switch (chan->timer_chan) {
case TIM_Channel_1:
TIM_OC1PolarityConfig(chan->timer, TIM_OCPolarity_High);
break;
case TIM_Channel_2:
TIM_OC2PolarityConfig(chan->timer, TIM_OCPolarity_High);
break;
case TIM_Channel_3:
TIM_OC3PolarityConfig(chan->timer, TIM_OCPolarity_High);
break;
case TIM_Channel_4:
TIM_OC4PolarityConfig(chan->timer, TIM_OCPolarity_High);
break;
}
}
}
if (!pios_servo_enabled) {
return;
}
if (pios_servo_bank_timer[bank]) {
// Setup the timer accordingly
TIM_SelectOnePulseMode(pios_servo_bank_timer[bank], TIM_OPMode_Repetitive);
TIM_Cmd(pios_servo_bank_timer[bank], ENABLE);
@ -152,6 +197,10 @@ void PIOS_Servo_SetBankMode(uint8_t bank, uint8_t mode)
void PIOS_Servo_Update()
{
if (!pios_servo_enabled) {
return;
}
for (uint8_t i = 0; (i < PIOS_SERVO_BANKS); i++) {
const TIM_TypeDef *timer = pios_servo_bank_timer[i];
if (timer && pios_servo_bank_mode[i] == PIOS_SERVO_BANK_MODE_SINGLE_PULSE) {
@ -211,13 +260,28 @@ void PIOS_Servo_SetHz(const uint16_t *speeds, const uint32_t *clock, uint8_t ban
if (clock[i]) {
new_clock = clock[i];
}
uint32_t apb_clock;
// Choose the correct prescaler value for the APB the timer is attached
if (timer == TIM1 || timer == TIM8 || timer == TIM9 || timer == TIM10 || timer == TIM11) {
TIM_TimeBaseStructure.TIM_Prescaler = (PIOS_PERIPHERAL_APB2_CLOCK / new_clock) - 1;
#if defined(STM32F10X_MD)
if (timer == TIM1 || timer == TIM8) {
apb_clock = PIOS_PERIPHERAL_APB2_CLOCK;
} else {
TIM_TimeBaseStructure.TIM_Prescaler = (PIOS_PERIPHERAL_APB1_CLOCK / new_clock) - 1;
apb_clock = PIOS_PERIPHERAL_APB1_CLOCK;
}
TIM_TimeBaseStructure.TIM_Period = ((new_clock / speeds[i]) - 1);
#elif defined(STM32F40_41xxx) || defined(STM32F446xx) || defined(STM32F411xE)
if (timer == TIM1 || timer == TIM8 || timer == TIM9 || timer == TIM10 || timer == TIM11) {
apb_clock = PIOS_PERIPHERAL_APB2_CLOCK;
} else {
apb_clock = PIOS_PERIPHERAL_APB1_CLOCK;
}
#else
#error Unsupported MCU
#endif
TIM_TimeBaseStructure.TIM_Prescaler = (apb_clock / new_clock) - 1;
TIM_TimeBaseStructure.TIM_Period = ((new_clock / speeds[i]) - 1);
TIM_TimeBaseInit((TIM_TypeDef *)timer, &TIM_TimeBaseStructure);
}
}
@ -231,7 +295,7 @@ void PIOS_Servo_SetHz(const uint16_t *speeds, const uint32_t *clock, uint8_t ban
void PIOS_Servo_Set(uint8_t servo, uint16_t position)
{
/* Make sure servo exists */
if (!servo_cfg || servo >= servo_cfg->num_channels) {
if (!pios_servo_enabled || !servo_cfg || servo >= servo_cfg->num_channels) {
return;
}
@ -273,4 +337,9 @@ uint8_t PIOS_Servo_GetPinBank(uint8_t pin)
}
}
const struct pios_servo_cfg *PIOS_Servo_GetConfig()
{
return servo_cfg;
}
#endif /* PIOS_INCLUDE_SERVO */

12
flight/pios/inc/pios_servo.h
View File

@ -6,7 +6,8 @@
* @{
*
* @file pios_servo.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2016.
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief RC Servo functions header.
* @see The GNU Public License (GPL) Version 3
*
@ -32,8 +33,9 @@
/* Global types */
enum pios_servo_bank_mode {
PIOS_SERVO_BANK_MODE_PWM = 0,
PIOS_SERVO_BANK_MODE_SINGLE_PULSE = 1
PIOS_SERVO_BANK_MODE_NONE = 0,
PIOS_SERVO_BANK_MODE_PWM = 1,
PIOS_SERVO_BANK_MODE_SINGLE_PULSE = 2
};
/* Public Functions */
extern void PIOS_Servo_SetHz(const uint16_t *speeds, const uint32_t *clock, uint8_t banks);
@ -42,6 +44,10 @@ extern void PIOS_Servo_Update();
extern void PIOS_Servo_SetBankMode(uint8_t bank, uint8_t mode);
extern uint8_t PIOS_Servo_GetPinBank(uint8_t pin);
/* ESC Bridge support */
extern void PIOS_Servo_Disable();
extern void PIOS_Servo_Enable();
#endif /* PIOS_SERVO_H */
/**

4
flight/pios/inc/pios_servo_priv.h
View File

@ -7,7 +7,8 @@
* @{
*
* @file pios_servo_priv.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2016.
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Servo private structures.
* @see The GNU Public License (GPL) Version 3
*
@ -45,6 +46,7 @@ struct pios_servo_cfg {
};
extern int32_t PIOS_Servo_Init(const struct pios_servo_cfg *cfg);
const struct pios_servo_cfg *PIOS_Servo_GetConfig();
#endif /* PIOS_SERVO_PRIV_H */

283
flight/pios/stm32f10x/pios_servo.c
View File

@ -1,283 +0,0 @@
/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_SERVO RC Servo Functions
* @brief Code to do set RC servo output
* @{
*
* @file pios_servo.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief RC Servo routines (STM32 dependent)
* @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
*/
#include "pios.h"
#ifdef PIOS_INCLUDE_SERVO
#include "pios_servo_priv.h"
#include "pios_tim_priv.h"
/* Private Function Prototypes */
static const struct pios_servo_cfg *servo_cfg;
// determine if the related timer will work in synchronous (or OneShot/OneShot125) One Pulse mode.
static uint8_t pios_servo_bank_mode[PIOS_SERVO_BANKS] = { 0 };
// used to skip updates when pulse length is higher than update cycle
static uint16_t pios_servo_bank_next_update[PIOS_SERVO_BANKS] = { 0 };
static uint16_t pios_servo_bank_max_pulse[PIOS_SERVO_BANKS] = { 0 };
// timer associated to each bank
static TIM_TypeDef *pios_servo_bank_timer[PIOS_SERVO_BANKS] = { 0 };
// index of bank used for each pin
static uint8_t *pios_servo_pin_bank;
#define PIOS_SERVO_TIMER_CLOCK 1000000
#define PIOS_SERVO_SAFE_MARGIN 50
/**
* Initialise Servos
*/
int32_t PIOS_Servo_Init(const struct pios_servo_cfg *cfg)
{
uint32_t tim_id;
if (PIOS_TIM_InitChannels(&tim_id, cfg->channels, cfg->num_channels, NULL, 0)) {
return -1;
}
/* Store away the requested configuration */
servo_cfg = cfg;
pios_servo_pin_bank = pios_malloc(sizeof(uint8_t) * cfg->num_channels);
uint8_t bank = 0;
/* Configure the channels to be in output compare mode */
for (uint8_t i = 0; i < cfg->num_channels; i++) {
const struct pios_tim_channel *chan = &servo_cfg->channels[i];
bool new = true;
/* See if any previous channels use that same timer */
for (uint8_t j = 0; (j < i) && new; j++) {
new &= chan->timer != servo_cfg->channels[j].timer;
}
if (new) {
PIOS_Assert(bank < PIOS_SERVO_BANKS);
for (uint8_t j = i; j < servo_cfg->num_channels; j++) {
if (servo_cfg->channels[j].timer == chan->timer) {
pios_servo_pin_bank[j] = bank;
}
}
pios_servo_bank_timer[bank] = chan->timer;
PIOS_Assert(bank < PIOS_SERVO_BANKS);
for (uint8_t j = i; j < servo_cfg->num_channels; j++) {
if (servo_cfg->channels[j].timer == chan->timer) {
pios_servo_pin_bank[j] = bank;
}
}
pios_servo_bank_timer[bank] = chan->timer;
TIM_ARRPreloadConfig(chan->timer, ENABLE);
TIM_CtrlPWMOutputs(chan->timer, ENABLE);
TIM_Cmd(chan->timer, ENABLE);
bank++;
}
/* Set up for output compare function */
switch (chan->timer_chan) {
case TIM_Channel_1:
TIM_OC1Init(chan->timer, &cfg->tim_oc_init);
TIM_OC1PreloadConfig(chan->timer, TIM_OCPreload_Enable);
break;
case TIM_Channel_2:
TIM_OC2Init(chan->timer, &cfg->tim_oc_init);
TIM_OC2PreloadConfig(chan->timer, TIM_OCPreload_Enable);
break;
case TIM_Channel_3:
TIM_OC3Init(chan->timer, &cfg->tim_oc_init);
TIM_OC3PreloadConfig(chan->timer, TIM_OCPreload_Enable);
break;
case TIM_Channel_4:
TIM_OC4Init(chan->timer, &cfg->tim_oc_init);
TIM_OC4PreloadConfig(chan->timer, TIM_OCPreload_Enable);
break;
}
}
return 0;
}
/**
* Set the servo update rate (Max 500Hz)
* \param[in] array of rates in Hz
* \param[in] array of timer clocks in Hz
* \param[in] maximum number of banks
*/
void PIOS_Servo_SetHz(const uint16_t *speeds, const uint32_t *clock, uint8_t banks)
{
PIOS_Assert(banks <= PIOS_SERVO_BANKS);
if (!servo_cfg) {
return;
}
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure = servo_cfg->tim_base_init;
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
for (uint8_t i = 0; i < banks && i < PIOS_SERVO_BANKS; i++) {
const TIM_TypeDef *timer = pios_servo_bank_timer[i];
if (timer) {
uint32_t new_clock = PIOS_SERVO_TIMER_CLOCK;
if (clock[i]) {
new_clock = clock[i];
}
TIM_TimeBaseStructure.TIM_Prescaler = (PIOS_MASTER_CLOCK / new_clock) - 1;
TIM_TimeBaseStructure.TIM_Period = ((new_clock / speeds[i]) - 1);
TIM_TimeBaseInit((TIM_TypeDef *)timer, &TIM_TimeBaseStructure);
}
}
}
/**
* Set servo position
* \param[in] Servo Servo number (0-7)
* \param[in] Position Servo position in microseconds
*/
void PIOS_Servo_Set(uint8_t servo, uint16_t position)
{
/* Make sure servo exists */
if (!servo_cfg || servo >= servo_cfg->num_channels) {
return;
}
/* Update the position */
const struct pios_tim_channel *chan = &servo_cfg->channels[servo];
uint16_t val = position;
uint16_t margin = chan->timer->ARR / 50; // Leave 2% of period as margin to prevent overlaps
if (val > (chan->timer->ARR - margin)) {
val = chan->timer->ARR - margin;
}
uint8_t bank = pios_servo_pin_bank[servo];
if (pios_servo_bank_max_pulse[bank] < val) {
pios_servo_bank_max_pulse[bank] = val;
}
switch (chan->timer_chan) {
case TIM_Channel_1:
TIM_SetCompare1(chan->timer, val);
break;
case TIM_Channel_2:
TIM_SetCompare2(chan->timer, val);
break;
case TIM_Channel_3:
TIM_SetCompare3(chan->timer, val);
break;
case TIM_Channel_4:
TIM_SetCompare4(chan->timer, val);
break;
}
}
void PIOS_Servo_Update()
{
for (uint8_t i = 0; (i < PIOS_SERVO_BANKS); i++) {
const TIM_TypeDef *timer = pios_servo_bank_timer[i];
if (timer && pios_servo_bank_mode[i] == PIOS_SERVO_BANK_MODE_SINGLE_PULSE) {
// a pulse to be generated is longer than cycle period. skip this update.
if (TIM_GetCounter((TIM_TypeDef *)timer) > (uint32_t)(pios_servo_bank_next_update[i] + PIOS_SERVO_SAFE_MARGIN)) {
TIM_GenerateEvent((TIM_TypeDef *)timer, TIM_EventSource_Update);
pios_servo_bank_next_update[i] = pios_servo_bank_max_pulse[i];
}
}
pios_servo_bank_max_pulse[i] = 0;
}
for (uint8_t i = 0; (i < servo_cfg->num_channels); i++) {
uint8_t bank = pios_servo_pin_bank[i];
uint8_t mode = pios_servo_bank_mode[bank];
if (mode == PIOS_SERVO_BANK_MODE_SINGLE_PULSE) {
/* Update the position */
const struct pios_tim_channel *chan = &servo_cfg->channels[i];
switch (chan->timer_chan) {
case TIM_Channel_1:
TIM_SetCompare1(chan->timer, 0);
break;
case TIM_Channel_2:
TIM_SetCompare2(chan->timer, 0);
break;
case TIM_Channel_3:
TIM_SetCompare3(chan->timer, 0);
break;
case TIM_Channel_4:
TIM_SetCompare4(chan->timer, 0);
break;
}
}
}
}
void PIOS_Servo_SetBankMode(uint8_t bank, uint8_t mode)
{
PIOS_Assert(bank < PIOS_SERVO_BANKS);
pios_servo_bank_mode[bank] = mode;
if (pios_servo_bank_timer[bank]) {
for (uint8_t i = 0; (i < servo_cfg->num_channels); i++) {
if (pios_servo_pin_bank[i] == bank) {
const struct pios_tim_channel *chan = &servo_cfg->channels[i];
/* Set up for output compare function */
switch (chan->timer_chan) {
case TIM_Channel_1:
TIM_OC1PolarityConfig(chan->timer, TIM_OCPolarity_High);
break;
case TIM_Channel_2:
TIM_OC2PolarityConfig(chan->timer, TIM_OCPolarity_High);
break;
case TIM_Channel_3:
TIM_OC3PolarityConfig(chan->timer, TIM_OCPolarity_High);
break;
case TIM_Channel_4:
TIM_OC4PolarityConfig(chan->timer, TIM_OCPolarity_High);
break;
}
}
}
// Setup the timer accordingly
TIM_SelectOnePulseMode(pios_servo_bank_timer[bank], TIM_OPMode_Repetitive);
TIM_Cmd(pios_servo_bank_timer[bank], ENABLE);
}
}
uint8_t PIOS_Servo_GetPinBank(uint8_t pin)
{
if (pin < servo_cfg->num_channels) {
return pios_servo_pin_bank[pin];
} else {
return 0;
}
}
#endif /* PIOS_INCLUDE_SERVO */

47
flight/targets/boards/coptercontrol/pios_board.h
View File

@ -59,58 +59,59 @@
// ------------------------
// BOOTLOADER_SETTINGS
// ------------------------
#define BOARD_READABLE TRUE
#define BOARD_WRITABLE TRUE
#define MAX_DEL_RETRYS 3
#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
#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 10
#define TELEM_QUEUE_SIZE 10
// ------------------------
// PIOS_LED
// ------------------------
#define PIOS_LED_HEARTBEAT 0
#define PIOS_LED_HEARTBEAT 0
// -------------------------
// System Settings
// -------------------------
#define PIOS_MASTER_CLOCK 72000000
#define PIOS_PERIPHERAL_CLOCK (PIOS_MASTER_CLOCK / 2)
#define PIOS_MASTER_CLOCK 72000000
#define PIOS_PERIPHERAL_APB1_CLOCK (PIOS_MASTER_CLOCK / 2)
#define PIOS_PERIPHERAL_APB2_CLOCK (PIOS_MASTER_CLOCK / 1)
// -------------------------
// 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...
#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
#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)
#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
#define PIOS_BMP085_OVERSAMPLING 3
// -------------------------
// SPI

16
flight/targets/boards/oplinkmini/pios_board.h
View File

@ -2,7 +2,8 @@
******************************************************************************
*
* @file pios_board.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2013.
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2016.
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2013.
* @brief Defines PiOS board hardware for the OpenPilot OPLink Mini board.
* @see The GNU Public License (GPL) Version 3
*
@ -137,16 +138,17 @@
// -------------------------
// System Settings
// -------------------------
#define PIOS_MASTER_CLOCK 72000000
#define PIOS_PERIPHERAL_CLOCK (PIOS_MASTER_CLOCK / 2)
#define PIOS_MASTER_CLOCK 72000000
#define PIOS_PERIPHERAL_APB1_CLOCK (PIOS_MASTER_CLOCK / 2)
#define PIOS_PERIPHERAL_APB2_CLOCK (PIOS_MASTER_CLOCK / 1)
// -------------------------
// 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...
#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