mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-12-01 09:24:10 +01:00
Flight - Centralized board specific files, BL and User FW uses the same board definitions, no need to have 2.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1663 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
zedamota
zedamota
parent
4888b34ac8
commit
e8d6e7c557
@ -25,7 +25,7 @@
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# Set developer code and compile options
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# Set to YES for debugging
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DEBUG ?= NO
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DEBUG ?= YES
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USE_BOOTLOADER ?= NO
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# Set to YES when using Code Sourcery toolchain
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@ -74,6 +74,7 @@ FLIGHTLIB = ../Libraries
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FLIGHTLIBINC = ../Libraries/inc
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PIOSSTM32F10X = $(PIOS)/STM32F10x
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PIOSCOMMON = $(PIOS)/Common
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PIOSBOARDS = $(PIOS)/Boards
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APPLIBDIR = $(PIOSSTM32F10X)/Libraries
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STMLIBDIR = $(APPLIBDIR)
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STMSPDDIR = $(STMLIBDIR)/STM32F10x_StdPeriph_Driver
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@ -167,6 +168,7 @@ EXTRAINCDIRS += $(PIOSINC)
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EXTRAINCDIRS += $(FLIGHTLIBINC)
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EXTRAINCDIRS += $(PIOSSTM32F10X)
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EXTRAINCDIRS += $(PIOSCOMMON)
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EXTRAINCDIRS += $(PIOSBOARDS)
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EXTRAINCDIRS += $(STMSPDINCDIR)
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EXTRAINCDIRS += $(CMSISDIR)
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EXTRAINCDIRS += $(AHRSINC)
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@ -74,6 +74,7 @@ FLIGHTLIB = ../Libraries
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FLIGHTLIBINC = ../Libraries/inc
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PIOSSTM32F10X = $(PIOS)/STM32F10x
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PIOSCOMMON = $(PIOS)/Common
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PIOSBOARDS = $(PIOS)/Boards
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APPLIBDIR = $(PIOSSTM32F10X)/Libraries
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STMLIBDIR = $(APPLIBDIR)
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STMSPDDIR = $(STMLIBDIR)/STM32F10x_StdPeriph_Driver
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@ -165,6 +166,7 @@ EXTRAINCDIRS += $(PIOSINC)
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EXTRAINCDIRS += $(FLIGHTLIBINC)
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EXTRAINCDIRS += $(PIOSSTM32F10X)
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EXTRAINCDIRS += $(PIOSCOMMON)
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EXTRAINCDIRS += $(PIOSBOARDS)
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EXTRAINCDIRS += $(STMSPDINCDIR)
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EXTRAINCDIRS += $(CMSISDIR)
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EXTRAINCDIRS += $(AHRS_BLINC)
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@ -211,7 +213,9 @@ DEBUGF = dwarf-2
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CDEFS = -DSTM32F10X_$(MODEL)
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CDEFS += -DUSE_STDPERIPH_DRIVER
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CDEFS += -DUSE_$(BOARD)
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ifeq ($(USE_BOOTLOADER), YES)
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CDEFS += -DUSE_BOOTLOADER
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endif
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# Place project-specific -D and/or -U options for
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# Assembler with preprocessor here.
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#ADEFS = -DUSE_IRQ_ASM_WRAPPER
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@ -298,9 +302,9 @@ OOCD_CL=-d0
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# interface and board/target settings (using the OOCD target-library here)
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UNAME := $(shell uname)
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ifeq ($(UNAME), Darwin)
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OOCD_CL+=-f ../Project/OpenOCD/floss-jtag.ahrs.osx.cfg -f ../Project/OpenOCD/stm32.cfg
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OOCD_CL+=-f ../../Project/OpenOCD/floss-jtag.ahrs.osx.cfg -f ../../Project/OpenOCD/stm32.cfg
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else
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OOCD_CL+=-f ../Project/OpenOCD/floss-jtag.ahrs.cfg -f ../Project/OpenOCD/stm32.cfg
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OOCD_CL+=-f ../../Project/OpenOCD/floss-jtag.ahrs.cfg -f ../../Project/OpenOCD/stm32.cfg
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endif
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# initialize
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OOCD_CL+=-c init
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@ -1,241 +0,0 @@
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/**
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******************************************************************************
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*
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* @file pios_board.h
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief Defines board hardware for the OpenPilot Version 1.1 hardware.
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#ifndef PIOS_BOARD_H
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#define PIOS_BOARD_H
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//------------------------
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// Timers and Channels Used
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//------------------------
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/*
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Timer | Channel 1 | Channel 2 | Channel 3 | Channel 4
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------+-----------+-----------+-----------+----------
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TIM1 | | | |
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TIM2 | --------------- PIOS_DELAY -----------------
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TIM3 | | | |
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TIM4 | | | |
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TIM5 | | | |
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TIM6 | | | |
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TIM7 | | | |
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TIM8 | | | |
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------+-----------+-----------+-----------+----------
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*/
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//------------------------
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// DMA Channels Used
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//------------------------
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/* Channel 1 - */
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/* Channel 2 - */
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/* Channel 3 - */
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/* Channel 4 - */
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/* Channel 5 - */
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/* Channel 6 - */
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/* Channel 7 - */
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/* Channel 8 - */
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/* Channel 9 - */
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/* Channel 10 - */
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/* Channel 11 - */
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/* Channel 12 - */
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//------------------------
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// BOOTLOADER_SETTINGS
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//------------------------
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#define HW_VERSION 69
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#define BOOTLOADER_VERSION 0
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#define MEM_SIZE 0x20000 //128K
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#define SIZE_OF_DESCRIPTION 100
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#define START_OF_USER_CODE (uint32_t)0x08006000
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#define SIZE_OF_CODE (uint32_t)(MEM_SIZE-(START_OF_USER_CODE-0x08000000)-SIZE_OF_DESCRIPTION)
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#ifdef STM32F10X_HD
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#define HW_TYPE 0 //0=high_density 1=medium_density;
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#elif STM32F10X_MD
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#define HW_TYPE 1 //0=high_density 1=medium_density;
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#endif
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#define BOARD_READABLE TRUE
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#define BOARD_WRITABLA TRUE
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#define MAX_DEL_RETRYS 3
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//------------------------
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// PIOS_LED
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//------------------------
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#define PIOS_LED_LED1_GPIO_PORT GPIOA
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#define PIOS_LED_LED1_GPIO_PIN GPIO_Pin_3
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#define PIOS_LED_LED1_GPIO_CLK RCC_APB2Periph_GPIOA
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#define PIOS_LED_NUM 1
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#define PIOS_LED_PORTS { PIOS_LED_LED1_GPIO_PORT }
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#define PIOS_LED_PINS { PIOS_LED_LED1_GPIO_PIN }
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#define PIOS_LED_CLKS { PIOS_LED_LED1_GPIO_CLK }
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//-------------------------
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// Delay Timer
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//-------------------------
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#define PIOS_DELAY_TIMER TIM2
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#define PIOS_DELAY_TIMER_RCC_FUNC RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE)
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//-------------------------
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// System Settings
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//-------------------------
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#define PIOS_MASTER_CLOCK 72000000
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#define PIOS_PERIPHERAL_CLOCK (PIOS_MASTER_CLOCK / 2)
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#if defined(USE_BOOTLOADER)
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#define PIOS_NVIC_VECTTAB_FLASH ((uint32_t)0x08006000)
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#else
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#define PIOS_NVIC_VECTTAB_FLASH ((uint32_t)0x08000000)
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#endif
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//-------------------------
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// Interrupt Priorities
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//-------------------------
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#define PIOS_IRQ_PRIO_LOW 12 // lower than RTOS
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#define PIOS_IRQ_PRIO_MID 8 // higher than RTOS
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#define PIOS_IRQ_PRIO_HIGH 5 // for SPI, ADC, I2C etc...
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#define PIOS_IRQ_PRIO_HIGHEST 4 // for USART etc...
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//------------------------
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// PIOS_I2C
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// See also pios_board.c
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//------------------------
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#define PIOS_I2C_MAIN_ADAPTER 0
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//-------------------------
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// SPI
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//
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// See also pios_board.c
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//-------------------------
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#define PIOS_SPI_OP 0
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//-------------------------
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// PIOS_USART
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//-------------------------
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#define PIOS_USART_RX_BUFFER_SIZE 256
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#define PIOS_USART_TX_BUFFER_SIZE 256
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#define PIOS_COM_AUX_BAUDRATE 115200
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#define PIOS_COM_AUX 0
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#define PIOS_COM_DEBUG PIOS_COM_AUX
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//-------------------------
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// ADC
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// PIOS_ADC_PinGet(0) = Accel Z
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// PIOS_ADC_PinGet(2) = Accel Y
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// PIOS_ADC_PinGet(4) = Accel X
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// PIOS_ADC_PinGet(1) = Gyro X
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// PIOS_ADC_PinGet(3) = Gyro Y
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// PIOS_ADC_PinGet(5) = Gyro Z
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// PIOS_ADC_PinGet(6) = XY Temp
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// PIOS_ADC_PinGet(7) = Z Temp
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//-------------------------
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//#define PIOS_ADC_OVERSAMPLING_RATE 1
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#define PIOS_ADC_USE_TEMP_SENSOR 0
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#define PIOS_ADC_TEMP_SENSOR_ADC ADC1
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#define PIOS_ADC_TEMP_SENSOR_ADC_CHANNEL 1
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#define PIOS_ADC_PIN1_GPIO_PORT GPIOA // PA2 (Accel X)
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#define PIOS_ADC_PIN1_GPIO_PIN GPIO_Pin_2 // ADC12_IN2
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#define PIOS_ADC_PIN1_GPIO_CHANNEL ADC_Channel_2
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#define PIOS_ADC_PIN1_ADC ADC1
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#define PIOS_ADC_PIN1_ADC_NUMBER 1
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#define PIOS_ADC_PIN2_GPIO_PORT GPIOA // PA1 (Accel Y)
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#define PIOS_ADC_PIN2_GPIO_PIN GPIO_Pin_1 // ADC123_IN1
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#define PIOS_ADC_PIN2_GPIO_CHANNEL ADC_Channel_1
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#define PIOS_ADC_PIN2_ADC ADC1
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#define PIOS_ADC_PIN2_ADC_NUMBER 2
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#define PIOS_ADC_PIN3_GPIO_PORT GPIOA // PA0 (Accel Z)
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#define PIOS_ADC_PIN3_GPIO_PIN GPIO_Pin_0 // ADC12_IN0
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#define PIOS_ADC_PIN3_GPIO_CHANNEL ADC_Channel_0
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#define PIOS_ADC_PIN3_ADC ADC1
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#define PIOS_ADC_PIN3_ADC_NUMBER 3
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#define PIOS_ADC_PIN4_GPIO_PORT GPIOA // PA6 (Temp_XY)
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#define PIOS_ADC_PIN4_GPIO_PIN GPIO_Pin_6 // ADC12_IN6
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#define PIOS_ADC_PIN4_GPIO_CHANNEL ADC_Channel_6
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#define PIOS_ADC_PIN4_ADC ADC1
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#define PIOS_ADC_PIN4_ADC_NUMBER 4
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#define PIOS_ADC_PIN5_GPIO_PORT GPIOA // PA4 (Gyro X)
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#define PIOS_ADC_PIN5_GPIO_PIN GPIO_Pin_4 // ADC12_IN4
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#define PIOS_ADC_PIN5_GPIO_CHANNEL ADC_Channel_4
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#define PIOS_ADC_PIN5_ADC ADC2
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#define PIOS_ADC_PIN5_ADC_NUMBER 1
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#define PIOS_ADC_PIN6_GPIO_PORT GPIOA // PA5 (Gyro Y)
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#define PIOS_ADC_PIN6_GPIO_PIN GPIO_Pin_5 // ADC12_IN5
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#define PIOS_ADC_PIN6_GPIO_CHANNEL ADC_Channel_5
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#define PIOS_ADC_PIN6_ADC ADC2
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#define PIOS_ADC_PIN6_ADC_NUMBER 2
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#define PIOS_ADC_PIN7_GPIO_PORT GPIOA // PA7 (Gyro Z)
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#define PIOS_ADC_PIN7_GPIO_PIN GPIO_Pin_7 // ADC12_IN7
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#define PIOS_ADC_PIN7_GPIO_CHANNEL ADC_Channel_7
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#define PIOS_ADC_PIN7_ADC ADC2
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#define PIOS_ADC_PIN7_ADC_NUMBER 3
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#define PIOS_ADC_PIN8_GPIO_PORT GPIOB // PB1 (Z Temp)
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#define PIOS_ADC_PIN8_GPIO_PIN GPIO_Pin_1 // ADC12_IN9
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#define PIOS_ADC_PIN8_GPIO_CHANNEL ADC_Channel_9
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#define PIOS_ADC_PIN8_ADC ADC2
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#define PIOS_ADC_PIN8_ADC_NUMBER 4
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#define PIOS_ADC_NUM_PINS 8
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#define PIOS_ADC_PORTS { PIOS_ADC_PIN1_GPIO_PORT, PIOS_ADC_PIN2_GPIO_PORT, PIOS_ADC_PIN3_GPIO_PORT, PIOS_ADC_PIN4_GPIO_PORT, PIOS_ADC_PIN5_GPIO_PORT, PIOS_ADC_PIN6_GPIO_PORT, PIOS_ADC_PIN7_GPIO_PORT, PIOS_ADC_PIN8_GPIO_PORT }
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#define PIOS_ADC_PINS { PIOS_ADC_PIN1_GPIO_PIN, PIOS_ADC_PIN2_GPIO_PIN, PIOS_ADC_PIN3_GPIO_PIN, PIOS_ADC_PIN4_GPIO_PIN, PIOS_ADC_PIN5_GPIO_PIN, PIOS_ADC_PIN6_GPIO_PIN, PIOS_ADC_PIN7_GPIO_PIN, PIOS_ADC_PIN8_GPIO_PIN }
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#define PIOS_ADC_CHANNELS { PIOS_ADC_PIN1_GPIO_CHANNEL, PIOS_ADC_PIN2_GPIO_CHANNEL, PIOS_ADC_PIN3_GPIO_CHANNEL, PIOS_ADC_PIN4_GPIO_CHANNEL, PIOS_ADC_PIN5_GPIO_CHANNEL, PIOS_ADC_PIN6_GPIO_CHANNEL, PIOS_ADC_PIN7_GPIO_CHANNEL, PIOS_ADC_PIN8_GPIO_CHANNEL }
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#define PIOS_ADC_MAPPING { PIOS_ADC_PIN1_ADC, PIOS_ADC_PIN2_ADC, PIOS_ADC_PIN3_ADC, PIOS_ADC_PIN4_ADC, PIOS_ADC_PIN5_ADC, PIOS_ADC_PIN6_ADC, PIOS_ADC_PIN7_ADC, PIOS_ADC_PIN8_ADC }
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#define PIOS_ADC_CHANNEL_MAPPING { PIOS_ADC_PIN1_ADC_NUMBER, PIOS_ADC_PIN2_ADC_NUMBER, PIOS_ADC_PIN3_ADC_NUMBER, PIOS_ADC_PIN4_ADC_NUMBER, PIOS_ADC_PIN5_ADC_NUMBER, PIOS_ADC_PIN6_ADC_NUMBER, PIOS_ADC_PIN7_ADC_NUMBER, PIOS_ADC_PIN8_ADC_NUMBER }
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#define PIOS_ADC_NUM_CHANNELS (PIOS_ADC_NUM_PINS + PIOS_ADC_USE_TEMP_SENSOR)
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#define PIOS_ADC_NUM_ADC_CHANNELS 2
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#define PIOS_ADC_USE_ADC2 1
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#define PIOS_ADC_CLOCK_FUNCTION RCC_APB2PeriphClockCmd(RCC_APB2Periph_ADC1 | RCC_APB2Periph_ADC2, ENABLE)
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#define PIOS_ADC_ADCCLK RCC_PCLK2_Div8
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/* RCC_PCLK2_Div2: ADC clock = PCLK2/2 */
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/* RCC_PCLK2_Div4: ADC clock = PCLK2/4 */
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/* RCC_PCLK2_Div6: ADC clock = PCLK2/6 */
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/* RCC_PCLK2_Div8: ADC clock = PCLK2/8 */
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#define PIOS_ADC_SAMPLE_TIME ADC_SampleTime_239Cycles5
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/* Sample time: */
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/* With an ADCCLK = 14 MHz and a sampling time of 293.5 cycles: */
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/* Tconv = 239.5 + 12.5 = 252 cycles = 18<31>s */
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/* (1 / (ADCCLK / CYCLES)) = Sample Time (<28>S) */
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#define PIOS_ADC_IRQ_PRIO PIOS_IRQ_PRIO_HIGH
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//-------------------------
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// GPIO
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//-------------------------
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#define PIOS_GPIO_1_PORT GPIOB
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#define PIOS_GPIO_1_PIN GPIO_Pin_9
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#define PIOS_GPIO_1_GPIO_CLK RCC_APB2Periph_GPIOB
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#define PIOS_GPIO_PORTS { PIOS_GPIO_1_PORT }
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#define PIOS_GPIO_PINS { PIOS_GPIO_1_PIN }
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#define PIOS_GPIO_CLKS { PIOS_GPIO_1_GPIO_CLK }
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#define PIOS_GPIO_NUM 1
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#define SET_ACCEL_2G PIOS_GPIO_On(0);
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#define SET_ACCEL_6G PIOS_GPIO_Off(0)
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#endif /* PIOS_BOARD_H */
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@ -1,393 +0,0 @@
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/**
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******************************************************************************
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* @addtogroup OpenPilotSystem OpenPilot System
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* @{
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* @addtogroup OpenPilotCore OpenPilot Core
|
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* @{
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* @file pios_board.h
|
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
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* @brief Defines board hardware for the OpenPilot Version 1.1 hardware.
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||||
* @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
|
||||
*/
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||||
|
||||
|
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#ifndef PIOS_BOARD_H
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#define PIOS_BOARD_H
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//------------------------
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// Timers and Channels Used
|
||||
//------------------------
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||||
/*
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Timer | Channel 1 | Channel 2 | Channel 3 | Channel 4
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------+-----------+-----------+-----------+----------
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TIM1 | RC In 3 | RC In 6 | RC In 5 |
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TIM2 | --------------- PIOS_DELAY -----------------
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TIM3 | RC In 7 | RC In 8 | RC In 1 | RC In 2
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TIM4 | Servo 1 | Servo 2 | Servo 3 | Servo 4
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TIM5 | RC In 4 | | |
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TIM6 | ----------- PIOS_PWM (Supervisor) ----------
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TIM7 | | | |
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TIM8 | Servo 5 | Servo 6 | Servo 7 | Servo 8
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------+-----------+-----------+-----------+----------
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*/
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//------------------------
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// DMA Channels Used
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//------------------------
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/* Channel 1 - ADC */
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/* Channel 2 - SPI1 RX */
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/* Channel 3 - SPI1 TX */
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/* Channel 4 - SPI2 RX */
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/* Channel 5 - SPI2 TX */
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/* Channel 6 - */
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/* Channel 7 - */
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/* Channel 8 - */
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/* Channel 9 - */
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/* Channel 10 - */
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/* Channel 11 - */
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/* Channel 12 - */
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//------------------------
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// BOOTLOADER_SETTINGS
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//------------------------
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||||
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#define HW_VERSION 01
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#define BOOTLOADER_VERSION 0
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#define MEM_SIZE 524288 //512K
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#define SIZE_OF_DESCRIPTION (uint8_t) 100
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#define SIZE_OF_CODE (uint32_t) (MEM_SIZE-(START_OF_USER_CODE-0x08000000)-SIZE_OF_DESCRIPTION)
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#define START_OF_USER_CODE 0x0800F000
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#ifdef STM32F10X_HD
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#define HW_TYPE 0 //0=high_density 1=medium_density;
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#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 GPIOC
|
||||
#define PIOS_LED_LED1_GPIO_PIN GPIO_Pin_12
|
||||
#define PIOS_LED_LED1_GPIO_CLK RCC_APB2Periph_GPIOC
|
||||
#define PIOS_LED_LED2_GPIO_PORT GPIOC
|
||||
#define PIOS_LED_LED2_GPIO_PIN GPIO_Pin_13
|
||||
#define PIOS_LED_LED2_GPIO_CLK RCC_APB2Periph_GPIOC
|
||||
#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_I2C
|
||||
// See also pios_board.c
|
||||
//------------------------
|
||||
#define PIOS_I2C_MAIN_ADAPTER 0
|
||||
|
||||
//------------------------
|
||||
// PIOS_BMP085
|
||||
//------------------------
|
||||
#define PIOS_BMP085_EOC_GPIO_PORT GPIOC
|
||||
#define PIOS_BMP085_EOC_GPIO_PIN GPIO_Pin_15
|
||||
#define PIOS_BMP085_EOC_PORT_SOURCE GPIO_PortSourceGPIOG
|
||||
#define PIOS_BMP085_EOC_PIN_SOURCE GPIO_PinSource8
|
||||
#define PIOS_BMP085_EOC_CLK RCC_APB2Periph_GPIOC
|
||||
#define PIOS_BMP085_EOC_EXTI_LINE EXTI_Line15
|
||||
#define PIOS_BMP085_EOC_IRQn EXTI15_10_IRQn
|
||||
#define PIOS_BMP085_EOC_PRIO PIOS_IRQ_PRIO_HIGH
|
||||
#define PIOS_BMP085_OVERSAMPLING 2
|
||||
|
||||
//-------------------------
|
||||
// USART
|
||||
//
|
||||
// See also pios_board.c
|
||||
//-------------------------
|
||||
#define PIOS_USART_RX_BUFFER_SIZE 1024
|
||||
#define PIOS_USART_TX_BUFFER_SIZE 256
|
||||
|
||||
#define PIOS_COM_TELEM_BAUDRATE 57600
|
||||
#define PIOS_COM_GPS_BAUDRATE 57600
|
||||
|
||||
#define PIOS_COM_TELEM_RF 0
|
||||
#define PIOS_COM_GPS 1
|
||||
#define PIOS_COM_TELEM_USB 2
|
||||
|
||||
#ifdef PIOS_ENABLE_AUX_UART
|
||||
#define PIOS_COM_AUX_BAUDRATE 57600
|
||||
#define PIOS_COM_AUX 3
|
||||
#define PIOS_COM_DEBUG PIOS_COM_AUX
|
||||
#endif
|
||||
|
||||
#ifdef PIOS_INCLUDE_SPEKTRUM
|
||||
#define PIOS_COM_SPEKTRUM_BAUDRATE 115200
|
||||
#define PIOS_COM_SPEKTRUM 3
|
||||
#endif
|
||||
|
||||
//-------------------------
|
||||
// SPI
|
||||
//
|
||||
// See also pios_board.c
|
||||
//-------------------------
|
||||
#define PIOS_SDCARD_SPI 0
|
||||
#define PIOS_OPAHRS_SPI 1
|
||||
|
||||
//-------------------------
|
||||
// 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 ((uint32_t)0x08006000)
|
||||
#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...
|
||||
|
||||
//-------------------------
|
||||
// Receiver PWM inputs
|
||||
//-------------------------
|
||||
#define PIOS_PWM_CH1_GPIO_PORT GPIOA
|
||||
#define PIOS_PWM_CH1_PIN GPIO_Pin_9
|
||||
#define PIOS_PWM_CH1_TIM_PORT TIM1
|
||||
#define PIOS_PWM_CH1_CH TIM_Channel_2
|
||||
#define PIOS_PWM_CH1_CCR TIM_IT_CC2
|
||||
#define PIOS_PWM_CH2_GPIO_PORT GPIOA
|
||||
#define PIOS_PWM_CH2_PIN GPIO_Pin_10
|
||||
#define PIOS_PWM_CH2_TIM_PORT TIM1
|
||||
#define PIOS_PWM_CH2_CH TIM_Channel_3
|
||||
#define PIOS_PWM_CH2_CCR TIM_IT_CC3
|
||||
#define PIOS_PWM_CH3_GPIO_PORT GPIOA
|
||||
#define PIOS_PWM_CH3_PIN GPIO_Pin_0
|
||||
#define PIOS_PWM_CH3_TIM_PORT TIM5
|
||||
#define PIOS_PWM_CH3_CH TIM_Channel_1
|
||||
#define PIOS_PWM_CH3_CCR TIM_IT_CC1
|
||||
#define PIOS_PWM_CH4_GPIO_PORT GPIOA
|
||||
#define PIOS_PWM_CH4_PIN GPIO_Pin_8
|
||||
#define PIOS_PWM_CH4_TIM_PORT TIM1
|
||||
#define PIOS_PWM_CH4_CH TIM_Channel_1
|
||||
#define PIOS_PWM_CH4_CCR TIM_IT_CC1
|
||||
#define PIOS_PWM_CH5_GPIO_PORT GPIOB
|
||||
#define PIOS_PWM_CH5_PIN GPIO_Pin_1
|
||||
#define PIOS_PWM_CH5_TIM_PORT TIM3
|
||||
#define PIOS_PWM_CH5_CH TIM_Channel_4
|
||||
#define PIOS_PWM_CH5_CCR TIM_IT_CC4
|
||||
#define PIOS_PWM_CH6_GPIO_PORT GPIOB
|
||||
#define PIOS_PWM_CH6_PIN GPIO_Pin_0
|
||||
#define PIOS_PWM_CH6_TIM_PORT TIM3
|
||||
#define PIOS_PWM_CH6_CH TIM_Channel_3
|
||||
#define PIOS_PWM_CH6_CCR TIM_IT_CC3
|
||||
#define PIOS_PWM_CH7_GPIO_PORT GPIOB
|
||||
#define PIOS_PWM_CH7_PIN GPIO_Pin_4
|
||||
#define PIOS_PWM_CH7_TIM_PORT TIM3
|
||||
#define PIOS_PWM_CH7_CH TIM_Channel_1
|
||||
#define PIOS_PWM_CH7_CCR TIM_IT_CC1
|
||||
#define PIOS_PWM_CH8_GPIO_PORT GPIOB
|
||||
#define PIOS_PWM_CH8_PIN GPIO_Pin_5
|
||||
#define PIOS_PWM_CH8_TIM_PORT TIM3
|
||||
#define PIOS_PWM_CH8_CH TIM_Channel_2
|
||||
#define PIOS_PWM_CH8_CCR TIM_IT_CC2
|
||||
#define PIOS_PWM_GPIO_PORTS { PIOS_PWM_CH1_GPIO_PORT, PIOS_PWM_CH2_GPIO_PORT, PIOS_PWM_CH3_GPIO_PORT, PIOS_PWM_CH4_GPIO_PORT, PIOS_PWM_CH5_GPIO_PORT, PIOS_PWM_CH6_GPIO_PORT, PIOS_PWM_CH7_GPIO_PORT, PIOS_PWM_CH8_GPIO_PORT }
|
||||
#define PIOS_PWM_GPIO_PINS { PIOS_PWM_CH1_PIN, PIOS_PWM_CH2_PIN, PIOS_PWM_CH3_PIN, PIOS_PWM_CH4_PIN, PIOS_PWM_CH5_PIN, PIOS_PWM_CH6_PIN, PIOS_PWM_CH7_PIN, PIOS_PWM_CH8_PIN }
|
||||
#define PIOS_PWM_TIM_PORTS { PIOS_PWM_CH1_TIM_PORT, PIOS_PWM_CH2_TIM_PORT, PIOS_PWM_CH3_TIM_PORT, PIOS_PWM_CH4_TIM_PORT, PIOS_PWM_CH5_TIM_PORT, PIOS_PWM_CH6_TIM_PORT, PIOS_PWM_CH7_TIM_PORT, PIOS_PWM_CH8_TIM_PORT }
|
||||
#define PIOS_PWM_TIM_CHANNELS { PIOS_PWM_CH1_CH, PIOS_PWM_CH2_CH, PIOS_PWM_CH3_CH, PIOS_PWM_CH4_CH, PIOS_PWM_CH5_CH, PIOS_PWM_CH6_CH, PIOS_PWM_CH7_CH, PIOS_PWM_CH8_CH }
|
||||
#define PIOS_PWM_TIM_CCRS { PIOS_PWM_CH1_CCR, PIOS_PWM_CH2_CCR, PIOS_PWM_CH3_CCR, PIOS_PWM_CH4_CCR, PIOS_PWM_CH5_CCR, PIOS_PWM_CH6_CCR, PIOS_PWM_CH7_CCR, PIOS_PWM_CH8_CCR }
|
||||
#define PIOS_PWM_TIMS { TIM1, TIM3, TIM5 }
|
||||
#define PIOS_PWM_TIM_IRQS { TIM1_CC_IRQn, TIM3_IRQn, TIM5_IRQn }
|
||||
#define PIOS_PWM_NUM_INPUTS 8
|
||||
#define PIOS_PWM_NUM_TIMS 3
|
||||
#define PIOS_PWM_SUPV_ENABLED 1
|
||||
#define PIOS_PWM_SUPV_TIMER TIM6
|
||||
#define PIOS_PWM_SUPV_TIMER_RCC_FUNC RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM6, ENABLE)
|
||||
#define PIOS_PWM_SUPV_HZ 25
|
||||
#define PIOS_PWM_SUPV_IRQ_CHANNEL TIM6_IRQn
|
||||
#define PIOS_PWM_SUPV_IRQ_FUNC void TIM6_IRQHandler(void)
|
||||
|
||||
//-------------------------
|
||||
// Receiver PPM input
|
||||
//-------------------------
|
||||
#define PIOS_PPM_GPIO_PORT PIOS_PWM_CH1_GPIO_PORT
|
||||
#define PIOS_PPM_GPIO_PIN PIOS_PWM_CH1_PIN
|
||||
#define PIOS_PPM_TIM_PORT PIOS_PWM_CH1_TIM_PORT
|
||||
#define PIOS_PPM_TIM_CHANNEL PIOS_PWM_CH1_CH
|
||||
#define PIOS_PPM_TIM_CCR PIOS_PWM_CH1_CCR
|
||||
#define PIOS_PPM_TIM TIM1
|
||||
#define PIOS_PPM_TIM_IRQ TIM1_CC_IRQn
|
||||
#define PIOS_PPM_NUM_INPUTS 8 //Could be more if needed
|
||||
#define PIOS_PPM_SUPV_ENABLED 1
|
||||
#define PIOS_PPM_SUPV_TIMER TIM6
|
||||
#define PIOS_PPM_SUPV_TIMER_RCC_FUNC RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM6, ENABLE)
|
||||
#define PIOS_PPM_SUPV_HZ 25
|
||||
#define PIOS_PPM_SUPV_IRQ_CHANNEL TIM6_IRQn
|
||||
#define PIOS_PPM_SUPV_IRQ_FUNC void TIM6_IRQHandler(void)
|
||||
|
||||
|
||||
//-------------------------
|
||||
// Servo outputs
|
||||
//-------------------------
|
||||
#define PIOS_SERVO_GPIO_PORT_1TO4 GPIOB
|
||||
#define PIOS_SERVO_GPIO_PIN_1 GPIO_Pin_6
|
||||
#define PIOS_SERVO_GPIO_PIN_2 GPIO_Pin_7
|
||||
#define PIOS_SERVO_GPIO_PIN_3 GPIO_Pin_8
|
||||
#define PIOS_SERVO_GPIO_PIN_4 GPIO_Pin_9
|
||||
#define PIOS_SERVO_GPIO_PORT_5TO8 GPIOC
|
||||
#define PIOS_SERVO_GPIO_PIN_5 GPIO_Pin_6
|
||||
#define PIOS_SERVO_GPIO_PIN_6 GPIO_Pin_7
|
||||
#define PIOS_SERVO_GPIO_PIN_7 GPIO_Pin_8
|
||||
#define PIOS_SERVO_GPIO_PIN_8 GPIO_Pin_9
|
||||
#define PIOS_SERVO_NUM_OUTPUTS 8
|
||||
#define PIOS_SERVO_NUM_TIMERS PIOS_SERVO_NUM_OUTPUTS
|
||||
#define PIOS_SERVO_UPDATE_HZ 50
|
||||
#define PIOS_SERVOS_INITIAL_POSITION 1500
|
||||
|
||||
//-------------------------
|
||||
// ADC
|
||||
// PIOS_ADC_PinGet(0) = Temperature Sensor (On-board)
|
||||
// PIOS_ADC_PinGet(1) = Power Sensor (Current)
|
||||
// PIOS_ADC_PinGet(2) = Power Sensor (Voltage)
|
||||
// PIOS_ADC_PinGet(3) = On-board 5v Rail Sensor
|
||||
// PIOS_ADC_PinGet(4) = Auxiliary Input 1
|
||||
// PIOS_ADC_PinGet(5) = Auxiliary Input 2
|
||||
// PIOS_ADC_PinGet(6) = Auxiliary Input 3
|
||||
//-------------------------
|
||||
//#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 // PA1 (Power Sense - Voltage)
|
||||
#define PIOS_ADC_PIN1_GPIO_PIN GPIO_Pin_1 // ADC123_IN1
|
||||
#define PIOS_ADC_PIN1_GPIO_CHANNEL ADC_Channel_1
|
||||
#define PIOS_ADC_PIN1_ADC ADC1
|
||||
#define PIOS_ADC_PIN1_ADC_NUMBER 2
|
||||
#define PIOS_ADC_PIN2_GPIO_PORT GPIOC // PC3 (Power Sense - Current)
|
||||
#define PIOS_ADC_PIN2_GPIO_PIN GPIO_Pin_3 // ADC123_IN13
|
||||
#define PIOS_ADC_PIN2_GPIO_CHANNEL ADC_Channel_13
|
||||
#define PIOS_ADC_PIN2_ADC ADC2
|
||||
#define PIOS_ADC_PIN2_ADC_NUMBER 1
|
||||
#define PIOS_ADC_PIN3_GPIO_PORT GPIOC // PC5 (Onboard 5v Sensor) PC5
|
||||
#define PIOS_ADC_PIN3_GPIO_PIN GPIO_Pin_5 // ADC12_IN15
|
||||
#define PIOS_ADC_PIN3_GPIO_CHANNEL ADC_Channel_15
|
||||
#define PIOS_ADC_PIN3_ADC ADC2
|
||||
#define PIOS_ADC_PIN3_ADC_NUMBER 2
|
||||
#define PIOS_ADC_PIN4_GPIO_PORT GPIOC // PC0 (AUX 1)
|
||||
#define PIOS_ADC_PIN4_GPIO_PIN GPIO_Pin_0 // ADC123_IN10
|
||||
#define PIOS_ADC_PIN4_GPIO_CHANNEL ADC_Channel_10
|
||||
#define PIOS_ADC_PIN4_ADC ADC1
|
||||
#define PIOS_ADC_PIN4_ADC_NUMBER 3
|
||||
#define PIOS_ADC_PIN5_GPIO_PORT GPIOC // PC1 (AUX 2)
|
||||
#define PIOS_ADC_PIN5_GPIO_PIN GPIO_Pin_1 // ADC123_IN11
|
||||
#define PIOS_ADC_PIN5_GPIO_CHANNEL ADC_Channel_11
|
||||
#define PIOS_ADC_PIN5_ADC ADC2
|
||||
#define PIOS_ADC_PIN5_ADC_NUMBER 3
|
||||
#define PIOS_ADC_PIN6_GPIO_PORT GPIOC // PC2 (AUX 3)
|
||||
#define PIOS_ADC_PIN6_GPIO_PIN GPIO_Pin_2 // ADC123_IN12
|
||||
#define PIOS_ADC_PIN6_GPIO_CHANNEL ADC_Channel_12
|
||||
#define PIOS_ADC_PIN6_ADC ADC1
|
||||
#define PIOS_ADC_PIN6_ADC_NUMBER 4
|
||||
#define PIOS_ADC_NUM_PINS 6
|
||||
#define PIOS_ADC_PORTS { PIOS_ADC_PIN1_GPIO_PORT, PIOS_ADC_PIN2_GPIO_PORT, PIOS_ADC_PIN3_GPIO_PORT, PIOS_ADC_PIN4_GPIO_PORT, PIOS_ADC_PIN5_GPIO_PORT, PIOS_ADC_PIN6_GPIO_PORT }
|
||||
#define PIOS_ADC_PINS { PIOS_ADC_PIN1_GPIO_PIN, PIOS_ADC_PIN2_GPIO_PIN, PIOS_ADC_PIN3_GPIO_PIN, PIOS_ADC_PIN4_GPIO_PIN, PIOS_ADC_PIN5_GPIO_PIN, PIOS_ADC_PIN6_GPIO_PIN }
|
||||
#define PIOS_ADC_CHANNELS { PIOS_ADC_PIN1_GPIO_CHANNEL, PIOS_ADC_PIN2_GPIO_CHANNEL, PIOS_ADC_PIN3_GPIO_CHANNEL, PIOS_ADC_PIN4_GPIO_CHANNEL, PIOS_ADC_PIN5_GPIO_CHANNEL, PIOS_ADC_PIN6_GPIO_CHANNEL }
|
||||
#define PIOS_ADC_MAPPING { PIOS_ADC_PIN1_ADC, PIOS_ADC_PIN2_ADC, PIOS_ADC_PIN3_ADC, PIOS_ADC_PIN4_ADC, PIOS_ADC_PIN5_ADC, PIOS_ADC_PIN6_ADC }
|
||||
#define PIOS_ADC_CHANNEL_MAPPING { PIOS_ADC_PIN1_ADC_NUMBER, PIOS_ADC_PIN2_ADC_NUMBER, PIOS_ADC_PIN3_ADC_NUMBER, PIOS_ADC_PIN4_ADC_NUMBER, PIOS_ADC_PIN5_ADC_NUMBER, PIOS_ADC_PIN6_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 293.5 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_HIGH
|
||||
|
||||
//-------------------------
|
||||
// GPIO
|
||||
//-------------------------
|
||||
#define PIOS_GPIO_1_PORT GPIOC
|
||||
#define PIOS_GPIO_1_PIN GPIO_Pin_0
|
||||
#define PIOS_GPIO_1_GPIO_CLK RCC_APB2Periph_GPIOC
|
||||
#define PIOS_GPIO_2_PORT GPIOC
|
||||
#define PIOS_GPIO_2_PIN GPIO_Pin_1
|
||||
#define PIOS_GPIO_2_GPIO_CLK RCC_APB2Periph_GPIOC
|
||||
#define PIOS_GPIO_3_PORT GPIOC
|
||||
#define PIOS_GPIO_3_PIN GPIO_Pin_2
|
||||
#define PIOS_GPIO_3_GPIO_CLK RCC_APB2Periph_GPIOC
|
||||
#define PIOS_GPIO_4_PORT GPIOD
|
||||
#define PIOS_GPIO_4_PIN GPIO_Pin_2
|
||||
#define PIOS_GPIO_4_GPIO_CLK RCC_APB2Periph_GPIOD
|
||||
#define PIOS_GPIO_PORTS { PIOS_GPIO_1_PORT, PIOS_GPIO_2_PORT, PIOS_GPIO_3_PORT, PIOS_GPIO_4_PORT }
|
||||
#define PIOS_GPIO_PINS { PIOS_GPIO_1_PIN, PIOS_GPIO_2_PIN, PIOS_GPIO_3_PIN, PIOS_GPIO_4_PIN }
|
||||
#define PIOS_GPIO_CLKS { PIOS_GPIO_1_GPIO_CLK, PIOS_GPIO_2_GPIO_CLK, PIOS_GPIO_3_GPIO_CLK, PIOS_GPIO_4_GPIO_CLK }
|
||||
#define PIOS_GPIO_NUM 4
|
||||
|
||||
//-------------------------
|
||||
// USB
|
||||
//-------------------------
|
||||
#define PIOS_USB_ENABLED 1
|
||||
#define PIOS_USB_DETECT_GPIO_PORT GPIOC
|
||||
#define PIOS_USB_DETECT_GPIO_PIN GPIO_Pin_4
|
||||
#define PIOS_USB_DETECT_EXTI_LINE EXTI_Line4
|
||||
#define PIOS_IRQ_USB_PRIORITY PIOS_IRQ_PRIO_MID
|
||||
|
||||
/**
|
||||
* glue macros for file IO
|
||||
* STM32 uses DOSFS for file IO
|
||||
*/
|
||||
#define PIOS_FOPEN_READ(filename,file) DFS_OpenFile(&PIOS_SDCARD_VolInfo, (uint8_t *)filename, DFS_READ, PIOS_SDCARD_Sector, &file) != DFS_OK
|
||||
|
||||
#define PIOS_FOPEN_WRITE(filename,file) DFS_OpenFile(&PIOS_SDCARD_VolInfo, (uint8_t *)filename, DFS_WRITE, PIOS_SDCARD_Sector, &file) != DFS_OK
|
||||
|
||||
#define PIOS_FREAD(file,bufferadr,length,resultadr) DFS_ReadFile(file, PIOS_SDCARD_Sector, (uint8_t*)bufferadr, resultadr, length) != DFS_OK
|
||||
|
||||
#define PIOS_FWRITE(file,bufferadr,length,resultadr) DFS_WriteFile(file, PIOS_SDCARD_Sector, (uint8_t*)bufferadr, resultadr, length)
|
||||
|
||||
#define PIOS_FCLOSE(file) DFS_Close(&file)
|
||||
|
||||
#define PIOS_FUNLINK(filename) DFS_UnlinkFile(&PIOS_SDCARD_VolInfo, (uint8_t *)filename, PIOS_SDCARD_Sector)
|
||||
|
||||
|
||||
|
||||
#endif /* PIOS_BOARD_H */
|
||||
/**
|
||||
* @}
|
||||
* @}
|
||||
*/
|
||||
@ -100,6 +100,7 @@ PIOS = ../PiOS
|
||||
PIOSINC = $(PIOS)/inc
|
||||
PIOSSTM32F10X = $(PIOS)/STM32F10x
|
||||
PIOSCOMMON = $(PIOS)/Common
|
||||
PIOSBOARDS = $(PIOS)/Boards
|
||||
APPLIBDIR = $(PIOSSTM32F10X)/Libraries
|
||||
STMLIBDIR = $(APPLIBDIR)
|
||||
STMSPDDIR = $(STMLIBDIR)/STM32F10x_StdPeriph_Driver
|
||||
@ -312,6 +313,7 @@ EXTRAINCDIRS += $(PIOSINC)
|
||||
EXTRAINCDIRS += $(FLIGHTLIBINC)
|
||||
EXTRAINCDIRS += $(PIOSSTM32F10X)
|
||||
EXTRAINCDIRS += $(PIOSCOMMON)
|
||||
EXTRAINCDIRS += $(PIOSBOARDS)
|
||||
EXTRAINCDIRS += $(STMSPDINCDIR)
|
||||
EXTRAINCDIRS += $(STMUSBINCDIR)
|
||||
EXTRAINCDIRS += $(CMSISDIR)
|
||||
|
||||
@ -1,373 +0,0 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @addtogroup OpenPilotSystem OpenPilot System
|
||||
* @{
|
||||
* @addtogroup OpenPilotCore OpenPilot Core
|
||||
* @{
|
||||
* @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 | RC In 3 | RC In 6 | RC In 5 |
|
||||
TIM2 | --------------- PIOS_DELAY -----------------
|
||||
TIM3 | RC In 7 | RC In 8 | RC In 1 | RC In 2
|
||||
TIM4 | Servo 1 | Servo 2 | Servo 3 | Servo 4
|
||||
TIM5 | RC In 4 | | |
|
||||
TIM6 | ----------- PIOS_PWM (Supervisor) ----------
|
||||
TIM7 | | | |
|
||||
TIM8 | Servo 5 | Servo 6 | Servo 7 | Servo 8
|
||||
------+-----------+-----------+-----------+----------
|
||||
*/
|
||||
|
||||
//------------------------
|
||||
// DMA Channels Used
|
||||
//------------------------
|
||||
/* Channel 1 - ADC */
|
||||
/* 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 - */
|
||||
|
||||
//------------------------
|
||||
// PIOS_LED
|
||||
//------------------------
|
||||
#define PIOS_LED_LED1_GPIO_PORT GPIOC
|
||||
#define PIOS_LED_LED1_GPIO_PIN GPIO_Pin_12
|
||||
#define PIOS_LED_LED1_GPIO_CLK RCC_APB2Periph_GPIOC
|
||||
#define PIOS_LED_LED2_GPIO_PORT GPIOC
|
||||
#define PIOS_LED_LED2_GPIO_PIN GPIO_Pin_13
|
||||
#define PIOS_LED_LED2_GPIO_CLK RCC_APB2Periph_GPIOC
|
||||
#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_I2C
|
||||
// See also pios_board.c
|
||||
//------------------------
|
||||
#define PIOS_I2C_MAIN_ADAPTER 0
|
||||
|
||||
//------------------------
|
||||
// PIOS_BMP085
|
||||
//------------------------
|
||||
#define PIOS_BMP085_EOC_GPIO_PORT GPIOC
|
||||
#define PIOS_BMP085_EOC_GPIO_PIN GPIO_Pin_15
|
||||
#define PIOS_BMP085_EOC_PORT_SOURCE GPIO_PortSourceGPIOC
|
||||
#define PIOS_BMP085_EOC_PIN_SOURCE GPIO_PinSource15
|
||||
#define PIOS_BMP085_EOC_CLK RCC_APB2Periph_GPIOC
|
||||
#define PIOS_BMP085_EOC_EXTI_LINE EXTI_Line15
|
||||
#define PIOS_BMP085_EOC_IRQn EXTI15_10_IRQn
|
||||
#define PIOS_BMP085_EOC_PRIO PIOS_IRQ_PRIO_HIGH
|
||||
#define PIOS_BMP085_OVERSAMPLING 2
|
||||
|
||||
//-------------------------
|
||||
// USART
|
||||
//
|
||||
// See also pios_board.c
|
||||
//-------------------------
|
||||
#define PIOS_USART_RX_BUFFER_SIZE 1024
|
||||
#define PIOS_USART_TX_BUFFER_SIZE 256
|
||||
|
||||
#define PIOS_COM_TELEM_BAUDRATE 57600
|
||||
#define PIOS_COM_GPS_BAUDRATE 57600
|
||||
|
||||
#define PIOS_COM_TELEM_RF 0
|
||||
#define PIOS_COM_GPS 1
|
||||
#define PIOS_COM_TELEM_USB 2
|
||||
|
||||
#ifdef PIOS_ENABLE_AUX_UART
|
||||
#define PIOS_COM_AUX_BAUDRATE 57600
|
||||
#define PIOS_COM_AUX 3
|
||||
#define PIOS_COM_DEBUG PIOS_COM_AUX
|
||||
#endif
|
||||
|
||||
#ifdef PIOS_INCLUDE_SPEKTRUM
|
||||
#define PIOS_COM_SPEKTRUM_BAUDRATE 115200
|
||||
#define PIOS_COM_SPEKTRUM 3
|
||||
#endif
|
||||
|
||||
//-------------------------
|
||||
// SPI
|
||||
//
|
||||
// See also pios_board.c
|
||||
//-------------------------
|
||||
#define PIOS_SDCARD_SPI 0
|
||||
#define PIOS_OPAHRS_SPI 1
|
||||
|
||||
//-------------------------
|
||||
// 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 ((uint32_t)0x08006000)
|
||||
#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...
|
||||
|
||||
//-------------------------
|
||||
// Receiver PWM inputs
|
||||
//-------------------------
|
||||
#define PIOS_PWM_CH1_GPIO_PORT GPIOA
|
||||
#define PIOS_PWM_CH1_PIN GPIO_Pin_9
|
||||
#define PIOS_PWM_CH1_TIM_PORT TIM1
|
||||
#define PIOS_PWM_CH1_CH TIM_Channel_2
|
||||
#define PIOS_PWM_CH1_CCR TIM_IT_CC2
|
||||
#define PIOS_PWM_CH2_GPIO_PORT GPIOA
|
||||
#define PIOS_PWM_CH2_PIN GPIO_Pin_10
|
||||
#define PIOS_PWM_CH2_TIM_PORT TIM1
|
||||
#define PIOS_PWM_CH2_CH TIM_Channel_3
|
||||
#define PIOS_PWM_CH2_CCR TIM_IT_CC3
|
||||
#define PIOS_PWM_CH3_GPIO_PORT GPIOA
|
||||
#define PIOS_PWM_CH3_PIN GPIO_Pin_0
|
||||
#define PIOS_PWM_CH3_TIM_PORT TIM5
|
||||
#define PIOS_PWM_CH3_CH TIM_Channel_1
|
||||
#define PIOS_PWM_CH3_CCR TIM_IT_CC1
|
||||
#define PIOS_PWM_CH4_GPIO_PORT GPIOA
|
||||
#define PIOS_PWM_CH4_PIN GPIO_Pin_8
|
||||
#define PIOS_PWM_CH4_TIM_PORT TIM1
|
||||
#define PIOS_PWM_CH4_CH TIM_Channel_1
|
||||
#define PIOS_PWM_CH4_CCR TIM_IT_CC1
|
||||
#define PIOS_PWM_CH5_GPIO_PORT GPIOB
|
||||
#define PIOS_PWM_CH5_PIN GPIO_Pin_1
|
||||
#define PIOS_PWM_CH5_TIM_PORT TIM3
|
||||
#define PIOS_PWM_CH5_CH TIM_Channel_4
|
||||
#define PIOS_PWM_CH5_CCR TIM_IT_CC4
|
||||
#define PIOS_PWM_CH6_GPIO_PORT GPIOB
|
||||
#define PIOS_PWM_CH6_PIN GPIO_Pin_0
|
||||
#define PIOS_PWM_CH6_TIM_PORT TIM3
|
||||
#define PIOS_PWM_CH6_CH TIM_Channel_3
|
||||
#define PIOS_PWM_CH6_CCR TIM_IT_CC3
|
||||
#define PIOS_PWM_CH7_GPIO_PORT GPIOB
|
||||
#define PIOS_PWM_CH7_PIN GPIO_Pin_4
|
||||
#define PIOS_PWM_CH7_TIM_PORT TIM3
|
||||
#define PIOS_PWM_CH7_CH TIM_Channel_1
|
||||
#define PIOS_PWM_CH7_CCR TIM_IT_CC1
|
||||
#define PIOS_PWM_CH8_GPIO_PORT GPIOB
|
||||
#define PIOS_PWM_CH8_PIN GPIO_Pin_5
|
||||
#define PIOS_PWM_CH8_TIM_PORT TIM3
|
||||
#define PIOS_PWM_CH8_CH TIM_Channel_2
|
||||
#define PIOS_PWM_CH8_CCR TIM_IT_CC2
|
||||
#define PIOS_PWM_GPIO_PORTS { PIOS_PWM_CH1_GPIO_PORT, PIOS_PWM_CH2_GPIO_PORT, PIOS_PWM_CH3_GPIO_PORT, PIOS_PWM_CH4_GPIO_PORT, PIOS_PWM_CH5_GPIO_PORT, PIOS_PWM_CH6_GPIO_PORT, PIOS_PWM_CH7_GPIO_PORT, PIOS_PWM_CH8_GPIO_PORT }
|
||||
#define PIOS_PWM_GPIO_PINS { PIOS_PWM_CH1_PIN, PIOS_PWM_CH2_PIN, PIOS_PWM_CH3_PIN, PIOS_PWM_CH4_PIN, PIOS_PWM_CH5_PIN, PIOS_PWM_CH6_PIN, PIOS_PWM_CH7_PIN, PIOS_PWM_CH8_PIN }
|
||||
#define PIOS_PWM_TIM_PORTS { PIOS_PWM_CH1_TIM_PORT, PIOS_PWM_CH2_TIM_PORT, PIOS_PWM_CH3_TIM_PORT, PIOS_PWM_CH4_TIM_PORT, PIOS_PWM_CH5_TIM_PORT, PIOS_PWM_CH6_TIM_PORT, PIOS_PWM_CH7_TIM_PORT, PIOS_PWM_CH8_TIM_PORT }
|
||||
#define PIOS_PWM_TIM_CHANNELS { PIOS_PWM_CH1_CH, PIOS_PWM_CH2_CH, PIOS_PWM_CH3_CH, PIOS_PWM_CH4_CH, PIOS_PWM_CH5_CH, PIOS_PWM_CH6_CH, PIOS_PWM_CH7_CH, PIOS_PWM_CH8_CH }
|
||||
#define PIOS_PWM_TIM_CCRS { PIOS_PWM_CH1_CCR, PIOS_PWM_CH2_CCR, PIOS_PWM_CH3_CCR, PIOS_PWM_CH4_CCR, PIOS_PWM_CH5_CCR, PIOS_PWM_CH6_CCR, PIOS_PWM_CH7_CCR, PIOS_PWM_CH8_CCR }
|
||||
#define PIOS_PWM_TIMS { TIM1, TIM3, TIM5 }
|
||||
#define PIOS_PWM_TIM_IRQS { TIM1_CC_IRQn, TIM3_IRQn, TIM5_IRQn }
|
||||
#define PIOS_PWM_NUM_INPUTS 8
|
||||
#define PIOS_PWM_NUM_TIMS 3
|
||||
#define PIOS_PWM_SUPV_ENABLED 1
|
||||
#define PIOS_PWM_SUPV_TIMER TIM6
|
||||
#define PIOS_PWM_SUPV_TIMER_RCC_FUNC RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM6, ENABLE)
|
||||
#define PIOS_PWM_SUPV_HZ 25
|
||||
#define PIOS_PWM_SUPV_IRQ_CHANNEL TIM6_IRQn
|
||||
#define PIOS_PWM_SUPV_IRQ_FUNC void TIM6_IRQHandler(void)
|
||||
|
||||
//-------------------------
|
||||
// Receiver PPM input
|
||||
//-------------------------
|
||||
#define PIOS_PPM_GPIO_PORT PIOS_PWM_CH1_GPIO_PORT
|
||||
#define PIOS_PPM_GPIO_PIN PIOS_PWM_CH1_PIN
|
||||
#define PIOS_PPM_TIM_PORT PIOS_PWM_CH1_TIM_PORT
|
||||
#define PIOS_PPM_TIM_CHANNEL PIOS_PWM_CH1_CH
|
||||
#define PIOS_PPM_TIM_CCR PIOS_PWM_CH1_CCR
|
||||
#define PIOS_PPM_TIM TIM1
|
||||
#define PIOS_PPM_TIM_IRQ TIM1_CC_IRQn
|
||||
#define PIOS_PPM_NUM_INPUTS 8 //Could be more if needed
|
||||
#define PIOS_PPM_SUPV_ENABLED 1
|
||||
#define PIOS_PPM_SUPV_TIMER TIM6
|
||||
#define PIOS_PPM_SUPV_TIMER_RCC_FUNC RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM6, ENABLE)
|
||||
#define PIOS_PPM_SUPV_HZ 25
|
||||
#define PIOS_PPM_SUPV_IRQ_CHANNEL TIM6_IRQn
|
||||
#define PIOS_PPM_SUPV_IRQ_FUNC void TIM6_IRQHandler(void)
|
||||
|
||||
|
||||
//-------------------------
|
||||
// Servo outputs
|
||||
//-------------------------
|
||||
#define PIOS_SERVO_GPIO_PORT_1TO4 GPIOB
|
||||
#define PIOS_SERVO_GPIO_PIN_1 GPIO_Pin_6
|
||||
#define PIOS_SERVO_GPIO_PIN_2 GPIO_Pin_7
|
||||
#define PIOS_SERVO_GPIO_PIN_3 GPIO_Pin_8
|
||||
#define PIOS_SERVO_GPIO_PIN_4 GPIO_Pin_9
|
||||
#define PIOS_SERVO_GPIO_PORT_5TO8 GPIOC
|
||||
#define PIOS_SERVO_GPIO_PIN_5 GPIO_Pin_6
|
||||
#define PIOS_SERVO_GPIO_PIN_6 GPIO_Pin_7
|
||||
#define PIOS_SERVO_GPIO_PIN_7 GPIO_Pin_8
|
||||
#define PIOS_SERVO_GPIO_PIN_8 GPIO_Pin_9
|
||||
#define PIOS_SERVO_NUM_OUTPUTS 8
|
||||
#define PIOS_SERVO_NUM_TIMERS PIOS_SERVO_NUM_OUTPUTS
|
||||
#define PIOS_SERVO_UPDATE_HZ 50
|
||||
#define PIOS_SERVOS_INITIAL_POSITION 1500
|
||||
|
||||
//-------------------------
|
||||
// ADC
|
||||
// PIOS_ADC_PinGet(0) = Temperature Sensor (On-board)
|
||||
// PIOS_ADC_PinGet(1) = Power Sensor (Current)
|
||||
// PIOS_ADC_PinGet(2) = Power Sensor (Voltage)
|
||||
// PIOS_ADC_PinGet(3) = On-board 5v Rail Sensor
|
||||
// PIOS_ADC_PinGet(4) = Auxiliary Input 1
|
||||
// PIOS_ADC_PinGet(5) = Auxiliary Input 2
|
||||
// PIOS_ADC_PinGet(6) = Auxiliary Input 3
|
||||
//-------------------------
|
||||
//#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 // PA1 (Power Sense - Voltage)
|
||||
#define PIOS_ADC_PIN1_GPIO_PIN GPIO_Pin_1 // ADC123_IN1
|
||||
#define PIOS_ADC_PIN1_GPIO_CHANNEL ADC_Channel_1
|
||||
#define PIOS_ADC_PIN1_ADC ADC1
|
||||
#define PIOS_ADC_PIN1_ADC_NUMBER 2
|
||||
#define PIOS_ADC_PIN2_GPIO_PORT GPIOC // PC3 (Power Sense - Current)
|
||||
#define PIOS_ADC_PIN2_GPIO_PIN GPIO_Pin_3 // ADC123_IN13
|
||||
#define PIOS_ADC_PIN2_GPIO_CHANNEL ADC_Channel_13
|
||||
#define PIOS_ADC_PIN2_ADC ADC2
|
||||
#define PIOS_ADC_PIN2_ADC_NUMBER 1
|
||||
#define PIOS_ADC_PIN3_GPIO_PORT GPIOC // PC5 (Onboard 5v Sensor) PC5
|
||||
#define PIOS_ADC_PIN3_GPIO_PIN GPIO_Pin_5 // ADC12_IN15
|
||||
#define PIOS_ADC_PIN3_GPIO_CHANNEL ADC_Channel_15
|
||||
#define PIOS_ADC_PIN3_ADC ADC2
|
||||
#define PIOS_ADC_PIN3_ADC_NUMBER 2
|
||||
#define PIOS_ADC_PIN4_GPIO_PORT GPIOC // PC0 (AUX 1)
|
||||
#define PIOS_ADC_PIN4_GPIO_PIN GPIO_Pin_0 // ADC123_IN10
|
||||
#define PIOS_ADC_PIN4_GPIO_CHANNEL ADC_Channel_10
|
||||
#define PIOS_ADC_PIN4_ADC ADC1
|
||||
#define PIOS_ADC_PIN4_ADC_NUMBER 3
|
||||
#define PIOS_ADC_PIN5_GPIO_PORT GPIOC // PC1 (AUX 2)
|
||||
#define PIOS_ADC_PIN5_GPIO_PIN GPIO_Pin_1 // ADC123_IN11
|
||||
#define PIOS_ADC_PIN5_GPIO_CHANNEL ADC_Channel_11
|
||||
#define PIOS_ADC_PIN5_ADC ADC2
|
||||
#define PIOS_ADC_PIN5_ADC_NUMBER 3
|
||||
#define PIOS_ADC_PIN6_GPIO_PORT GPIOC // PC2 (AUX 3)
|
||||
#define PIOS_ADC_PIN6_GPIO_PIN GPIO_Pin_2 // ADC123_IN12
|
||||
#define PIOS_ADC_PIN6_GPIO_CHANNEL ADC_Channel_12
|
||||
#define PIOS_ADC_PIN6_ADC ADC1
|
||||
#define PIOS_ADC_PIN6_ADC_NUMBER 4
|
||||
#define PIOS_ADC_NUM_PINS 6
|
||||
#define PIOS_ADC_PORTS { PIOS_ADC_PIN1_GPIO_PORT, PIOS_ADC_PIN2_GPIO_PORT, PIOS_ADC_PIN3_GPIO_PORT, PIOS_ADC_PIN4_GPIO_PORT, PIOS_ADC_PIN5_GPIO_PORT, PIOS_ADC_PIN6_GPIO_PORT }
|
||||
#define PIOS_ADC_PINS { PIOS_ADC_PIN1_GPIO_PIN, PIOS_ADC_PIN2_GPIO_PIN, PIOS_ADC_PIN3_GPIO_PIN, PIOS_ADC_PIN4_GPIO_PIN, PIOS_ADC_PIN5_GPIO_PIN, PIOS_ADC_PIN6_GPIO_PIN }
|
||||
#define PIOS_ADC_CHANNELS { PIOS_ADC_PIN1_GPIO_CHANNEL, PIOS_ADC_PIN2_GPIO_CHANNEL, PIOS_ADC_PIN3_GPIO_CHANNEL, PIOS_ADC_PIN4_GPIO_CHANNEL, PIOS_ADC_PIN5_GPIO_CHANNEL, PIOS_ADC_PIN6_GPIO_CHANNEL }
|
||||
#define PIOS_ADC_MAPPING { PIOS_ADC_PIN1_ADC, PIOS_ADC_PIN2_ADC, PIOS_ADC_PIN3_ADC, PIOS_ADC_PIN4_ADC, PIOS_ADC_PIN5_ADC, PIOS_ADC_PIN6_ADC }
|
||||
#define PIOS_ADC_CHANNEL_MAPPING { PIOS_ADC_PIN1_ADC_NUMBER, PIOS_ADC_PIN2_ADC_NUMBER, PIOS_ADC_PIN3_ADC_NUMBER, PIOS_ADC_PIN4_ADC_NUMBER, PIOS_ADC_PIN5_ADC_NUMBER, PIOS_ADC_PIN6_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 293.5 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_HIGH
|
||||
|
||||
//-------------------------
|
||||
// GPIO
|
||||
//-------------------------
|
||||
#define PIOS_GPIO_1_PORT GPIOC
|
||||
#define PIOS_GPIO_1_PIN GPIO_Pin_0
|
||||
#define PIOS_GPIO_1_GPIO_CLK RCC_APB2Periph_GPIOC
|
||||
#define PIOS_GPIO_2_PORT GPIOC
|
||||
#define PIOS_GPIO_2_PIN GPIO_Pin_1
|
||||
#define PIOS_GPIO_2_GPIO_CLK RCC_APB2Periph_GPIOC
|
||||
#define PIOS_GPIO_3_PORT GPIOC
|
||||
#define PIOS_GPIO_3_PIN GPIO_Pin_2
|
||||
#define PIOS_GPIO_3_GPIO_CLK RCC_APB2Periph_GPIOC
|
||||
#define PIOS_GPIO_4_PORT GPIOD
|
||||
#define PIOS_GPIO_4_PIN GPIO_Pin_2
|
||||
#define PIOS_GPIO_4_GPIO_CLK RCC_APB2Periph_GPIOD
|
||||
#define PIOS_GPIO_PORTS { PIOS_GPIO_1_PORT, PIOS_GPIO_2_PORT, PIOS_GPIO_3_PORT, PIOS_GPIO_4_PORT }
|
||||
#define PIOS_GPIO_PINS { PIOS_GPIO_1_PIN, PIOS_GPIO_2_PIN, PIOS_GPIO_3_PIN, PIOS_GPIO_4_PIN }
|
||||
#define PIOS_GPIO_CLKS { PIOS_GPIO_1_GPIO_CLK, PIOS_GPIO_2_GPIO_CLK, PIOS_GPIO_3_GPIO_CLK, PIOS_GPIO_4_GPIO_CLK }
|
||||
#define PIOS_GPIO_NUM 4
|
||||
|
||||
//-------------------------
|
||||
// USB
|
||||
//-------------------------
|
||||
#define PIOS_USB_ENABLED 1
|
||||
#define PIOS_USB_DETECT_GPIO_PORT GPIOC
|
||||
#define PIOS_USB_DETECT_GPIO_PIN GPIO_Pin_4
|
||||
#define PIOS_USB_DETECT_EXTI_LINE EXTI_Line4
|
||||
#define PIOS_IRQ_USB_PRIORITY PIOS_IRQ_PRIO_MID
|
||||
|
||||
/**
|
||||
* glue macros for file IO
|
||||
* STM32 uses DOSFS for file IO
|
||||
*/
|
||||
#define PIOS_FOPEN_READ(filename,file) DFS_OpenFile(&PIOS_SDCARD_VolInfo, (uint8_t *)filename, DFS_READ, PIOS_SDCARD_Sector, &file) != DFS_OK
|
||||
|
||||
#define PIOS_FOPEN_WRITE(filename,file) DFS_OpenFile(&PIOS_SDCARD_VolInfo, (uint8_t *)filename, DFS_WRITE, PIOS_SDCARD_Sector, &file) != DFS_OK
|
||||
|
||||
#define PIOS_FREAD(file,bufferadr,length,resultadr) DFS_ReadFile(file, PIOS_SDCARD_Sector, (uint8_t*)bufferadr, resultadr, length) != DFS_OK
|
||||
|
||||
#define PIOS_FWRITE(file,bufferadr,length,resultadr) DFS_WriteFile(file, PIOS_SDCARD_Sector, (uint8_t*)bufferadr, resultadr, length)
|
||||
|
||||
#define PIOS_FCLOSE(file) DFS_Close(&file)
|
||||
|
||||
#define PIOS_FUNLINK(filename) DFS_UnlinkFile(&PIOS_SDCARD_VolInfo, (uint8_t *)filename, PIOS_SDCARD_Sector)
|
||||
|
||||
|
||||
|
||||
#endif /* PIOS_BOARD_H */
|
||||
/**
|
||||
* @}
|
||||
* @}
|
||||
*/
|
||||
@ -24,8 +24,8 @@
|
||||
*/
|
||||
|
||||
|
||||
#ifndef PIOS_BOARD_H
|
||||
#define PIOS_BOARD_H
|
||||
#ifndef STM32103CB_AHRS_H_
|
||||
#define STM32103CB_AHRS_H_
|
||||
|
||||
|
||||
//------------------------
|
||||
@ -61,6 +61,25 @@ TIM8 | | | |
|
||||
/* Channel 11 - */
|
||||
/* Channel 12 - */
|
||||
|
||||
|
||||
//------------------------
|
||||
// BOOTLOADER_SETTINGS
|
||||
//------------------------
|
||||
#define HW_VERSION 69
|
||||
#define BOOTLOADER_VERSION 0
|
||||
#define MEM_SIZE 0x20000 //128K
|
||||
#define SIZE_OF_DESCRIPTION 100
|
||||
#define START_OF_USER_CODE (uint32_t)0x08003400
|
||||
#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
|
||||
//------------------------
|
||||
@ -84,7 +103,7 @@ TIM8 | | | |
|
||||
#define PIOS_MASTER_CLOCK 72000000
|
||||
#define PIOS_PERIPHERAL_CLOCK (PIOS_MASTER_CLOCK / 2)
|
||||
#if defined(USE_BOOTLOADER)
|
||||
#define PIOS_NVIC_VECTTAB_FLASH ((uint32_t)0x08006000)
|
||||
#define PIOS_NVIC_VECTTAB_FLASH (START_OF_USER_CODE)
|
||||
#else
|
||||
#define PIOS_NVIC_VECTTAB_FLASH ((uint32_t)0x08000000)
|
||||
#endif
|
||||
@ -232,4 +251,6 @@ TIM8 | | | |
|
||||
#define PIOS_HMC5843_DRDY_IRQn EXTI9_5_IRQn
|
||||
#define PIOS_HMC5843_DRDY_PRIO PIOS_IRQ_PRIO_HIGH
|
||||
|
||||
#endif /* PIOS_BOARD_H */
|
||||
|
||||
|
||||
#endif /* STM32103CB_AHRS_H_ */
|
||||
392
flight/PiOS/Boards/STM3210E_OP.h
Normal file
392
flight/PiOS/Boards/STM3210E_OP.h
Normal file
@ -0,0 +1,392 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @addtogroup OpenPilotSystem OpenPilot System
|
||||
* @{
|
||||
* @addtogroup OpenPilotCore OpenPilot Core
|
||||
* @{
|
||||
* @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 STM3210E_OP_H_
|
||||
#define STM3210E_OP_H_
|
||||
|
||||
|
||||
|
||||
//------------------------
|
||||
// Timers and Channels Used
|
||||
//------------------------
|
||||
/*
|
||||
Timer | Channel 1 | Channel 2 | Channel 3 | Channel 4
|
||||
------+-----------+-----------+-----------+----------
|
||||
TIM1 | RC In 3 | RC In 6 | RC In 5 |
|
||||
TIM2 | --------------- PIOS_DELAY -----------------
|
||||
TIM3 | RC In 7 | RC In 8 | RC In 1 | RC In 2
|
||||
TIM4 | Servo 1 | Servo 2 | Servo 3 | Servo 4
|
||||
TIM5 | RC In 4 | | |
|
||||
TIM6 | ----------- PIOS_PWM (Supervisor) ----------
|
||||
TIM7 | | | |
|
||||
TIM8 | Servo 5 | Servo 6 | Servo 7 | Servo 8
|
||||
------+-----------+-----------+-----------+----------
|
||||
*/
|
||||
|
||||
//------------------------
|
||||
// DMA Channels Used
|
||||
//------------------------
|
||||
/* Channel 1 - ADC */
|
||||
/* 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 HW_VERSION 01
|
||||
#define BOOTLOADER_VERSION 0
|
||||
#define MEM_SIZE 524288 //512K
|
||||
#define SIZE_OF_DESCRIPTION (uint8_t) 100
|
||||
#define SIZE_OF_CODE (uint32_t) (MEM_SIZE-(START_OF_USER_CODE-0x08000000)-SIZE_OF_DESCRIPTION)
|
||||
#define START_OF_USER_CODE 0x0800F000
|
||||
#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 GPIOC
|
||||
#define PIOS_LED_LED1_GPIO_PIN GPIO_Pin_12
|
||||
#define PIOS_LED_LED1_GPIO_CLK RCC_APB2Periph_GPIOC
|
||||
#define PIOS_LED_LED2_GPIO_PORT GPIOC
|
||||
#define PIOS_LED_LED2_GPIO_PIN GPIO_Pin_13
|
||||
#define PIOS_LED_LED2_GPIO_CLK RCC_APB2Periph_GPIOC
|
||||
#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_I2C
|
||||
// See also pios_board.c
|
||||
//------------------------
|
||||
#define PIOS_I2C_MAIN_ADAPTER 0
|
||||
|
||||
//------------------------
|
||||
// PIOS_BMP085
|
||||
//------------------------
|
||||
#define PIOS_BMP085_EOC_GPIO_PORT GPIOC
|
||||
#define PIOS_BMP085_EOC_GPIO_PIN GPIO_Pin_15
|
||||
#define PIOS_BMP085_EOC_PORT_SOURCE GPIO_PortSourceGPIOC
|
||||
#define PIOS_BMP085_EOC_PIN_SOURCE GPIO_PinSource15
|
||||
#define PIOS_BMP085_EOC_CLK RCC_APB2Periph_GPIOC
|
||||
#define PIOS_BMP085_EOC_EXTI_LINE EXTI_Line15
|
||||
#define PIOS_BMP085_EOC_IRQn EXTI15_10_IRQn
|
||||
#define PIOS_BMP085_EOC_PRIO PIOS_IRQ_PRIO_HIGH
|
||||
#define PIOS_BMP085_OVERSAMPLING 2
|
||||
|
||||
//-------------------------
|
||||
// USART
|
||||
//
|
||||
// See also pios_board.c
|
||||
//-------------------------
|
||||
#define PIOS_USART_RX_BUFFER_SIZE 1024
|
||||
#define PIOS_USART_TX_BUFFER_SIZE 256
|
||||
|
||||
#define PIOS_COM_TELEM_BAUDRATE 57600
|
||||
#define PIOS_COM_GPS_BAUDRATE 57600
|
||||
|
||||
#define PIOS_COM_TELEM_RF 0
|
||||
#define PIOS_COM_GPS 1
|
||||
#define PIOS_COM_TELEM_USB 2
|
||||
|
||||
#ifdef PIOS_ENABLE_AUX_UART
|
||||
#define PIOS_COM_AUX_BAUDRATE 57600
|
||||
#define PIOS_COM_AUX 3
|
||||
#define PIOS_COM_DEBUG PIOS_COM_AUX
|
||||
#endif
|
||||
|
||||
#ifdef PIOS_INCLUDE_SPEKTRUM
|
||||
#define PIOS_COM_SPEKTRUM_BAUDRATE 115200
|
||||
#define PIOS_COM_SPEKTRUM 3
|
||||
#endif
|
||||
|
||||
//-------------------------
|
||||
// SPI
|
||||
//
|
||||
// See also pios_board.c
|
||||
//-------------------------
|
||||
#define PIOS_SDCARD_SPI 0
|
||||
#define PIOS_OPAHRS_SPI 1
|
||||
|
||||
//-------------------------
|
||||
// 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...
|
||||
|
||||
//-------------------------
|
||||
// Receiver PWM inputs
|
||||
//-------------------------
|
||||
#define PIOS_PWM_CH1_GPIO_PORT GPIOA
|
||||
#define PIOS_PWM_CH1_PIN GPIO_Pin_9
|
||||
#define PIOS_PWM_CH1_TIM_PORT TIM1
|
||||
#define PIOS_PWM_CH1_CH TIM_Channel_2
|
||||
#define PIOS_PWM_CH1_CCR TIM_IT_CC2
|
||||
#define PIOS_PWM_CH2_GPIO_PORT GPIOA
|
||||
#define PIOS_PWM_CH2_PIN GPIO_Pin_10
|
||||
#define PIOS_PWM_CH2_TIM_PORT TIM1
|
||||
#define PIOS_PWM_CH2_CH TIM_Channel_3
|
||||
#define PIOS_PWM_CH2_CCR TIM_IT_CC3
|
||||
#define PIOS_PWM_CH3_GPIO_PORT GPIOA
|
||||
#define PIOS_PWM_CH3_PIN GPIO_Pin_0
|
||||
#define PIOS_PWM_CH3_TIM_PORT TIM5
|
||||
#define PIOS_PWM_CH3_CH TIM_Channel_1
|
||||
#define PIOS_PWM_CH3_CCR TIM_IT_CC1
|
||||
#define PIOS_PWM_CH4_GPIO_PORT GPIOA
|
||||
#define PIOS_PWM_CH4_PIN GPIO_Pin_8
|
||||
#define PIOS_PWM_CH4_TIM_PORT TIM1
|
||||
#define PIOS_PWM_CH4_CH TIM_Channel_1
|
||||
#define PIOS_PWM_CH4_CCR TIM_IT_CC1
|
||||
#define PIOS_PWM_CH5_GPIO_PORT GPIOB
|
||||
#define PIOS_PWM_CH5_PIN GPIO_Pin_1
|
||||
#define PIOS_PWM_CH5_TIM_PORT TIM3
|
||||
#define PIOS_PWM_CH5_CH TIM_Channel_4
|
||||
#define PIOS_PWM_CH5_CCR TIM_IT_CC4
|
||||
#define PIOS_PWM_CH6_GPIO_PORT GPIOB
|
||||
#define PIOS_PWM_CH6_PIN GPIO_Pin_0
|
||||
#define PIOS_PWM_CH6_TIM_PORT TIM3
|
||||
#define PIOS_PWM_CH6_CH TIM_Channel_3
|
||||
#define PIOS_PWM_CH6_CCR TIM_IT_CC3
|
||||
#define PIOS_PWM_CH7_GPIO_PORT GPIOB
|
||||
#define PIOS_PWM_CH7_PIN GPIO_Pin_4
|
||||
#define PIOS_PWM_CH7_TIM_PORT TIM3
|
||||
#define PIOS_PWM_CH7_CH TIM_Channel_1
|
||||
#define PIOS_PWM_CH7_CCR TIM_IT_CC1
|
||||
#define PIOS_PWM_CH8_GPIO_PORT GPIOB
|
||||
#define PIOS_PWM_CH8_PIN GPIO_Pin_5
|
||||
#define PIOS_PWM_CH8_TIM_PORT TIM3
|
||||
#define PIOS_PWM_CH8_CH TIM_Channel_2
|
||||
#define PIOS_PWM_CH8_CCR TIM_IT_CC2
|
||||
#define PIOS_PWM_GPIO_PORTS { PIOS_PWM_CH1_GPIO_PORT, PIOS_PWM_CH2_GPIO_PORT, PIOS_PWM_CH3_GPIO_PORT, PIOS_PWM_CH4_GPIO_PORT, PIOS_PWM_CH5_GPIO_PORT, PIOS_PWM_CH6_GPIO_PORT, PIOS_PWM_CH7_GPIO_PORT, PIOS_PWM_CH8_GPIO_PORT }
|
||||
#define PIOS_PWM_GPIO_PINS { PIOS_PWM_CH1_PIN, PIOS_PWM_CH2_PIN, PIOS_PWM_CH3_PIN, PIOS_PWM_CH4_PIN, PIOS_PWM_CH5_PIN, PIOS_PWM_CH6_PIN, PIOS_PWM_CH7_PIN, PIOS_PWM_CH8_PIN }
|
||||
#define PIOS_PWM_TIM_PORTS { PIOS_PWM_CH1_TIM_PORT, PIOS_PWM_CH2_TIM_PORT, PIOS_PWM_CH3_TIM_PORT, PIOS_PWM_CH4_TIM_PORT, PIOS_PWM_CH5_TIM_PORT, PIOS_PWM_CH6_TIM_PORT, PIOS_PWM_CH7_TIM_PORT, PIOS_PWM_CH8_TIM_PORT }
|
||||
#define PIOS_PWM_TIM_CHANNELS { PIOS_PWM_CH1_CH, PIOS_PWM_CH2_CH, PIOS_PWM_CH3_CH, PIOS_PWM_CH4_CH, PIOS_PWM_CH5_CH, PIOS_PWM_CH6_CH, PIOS_PWM_CH7_CH, PIOS_PWM_CH8_CH }
|
||||
#define PIOS_PWM_TIM_CCRS { PIOS_PWM_CH1_CCR, PIOS_PWM_CH2_CCR, PIOS_PWM_CH3_CCR, PIOS_PWM_CH4_CCR, PIOS_PWM_CH5_CCR, PIOS_PWM_CH6_CCR, PIOS_PWM_CH7_CCR, PIOS_PWM_CH8_CCR }
|
||||
#define PIOS_PWM_TIMS { TIM1, TIM3, TIM5 }
|
||||
#define PIOS_PWM_TIM_IRQS { TIM1_CC_IRQn, TIM3_IRQn, TIM5_IRQn }
|
||||
#define PIOS_PWM_NUM_INPUTS 8
|
||||
#define PIOS_PWM_NUM_TIMS 3
|
||||
#define PIOS_PWM_SUPV_ENABLED 1
|
||||
#define PIOS_PWM_SUPV_TIMER TIM6
|
||||
#define PIOS_PWM_SUPV_TIMER_RCC_FUNC RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM6, ENABLE)
|
||||
#define PIOS_PWM_SUPV_HZ 25
|
||||
#define PIOS_PWM_SUPV_IRQ_CHANNEL TIM6_IRQn
|
||||
#define PIOS_PWM_SUPV_IRQ_FUNC void TIM6_IRQHandler(void)
|
||||
|
||||
//-------------------------
|
||||
// Receiver PPM input
|
||||
//-------------------------
|
||||
#define PIOS_PPM_GPIO_PORT PIOS_PWM_CH1_GPIO_PORT
|
||||
#define PIOS_PPM_GPIO_PIN PIOS_PWM_CH1_PIN
|
||||
#define PIOS_PPM_TIM_PORT PIOS_PWM_CH1_TIM_PORT
|
||||
#define PIOS_PPM_TIM_CHANNEL PIOS_PWM_CH1_CH
|
||||
#define PIOS_PPM_TIM_CCR PIOS_PWM_CH1_CCR
|
||||
#define PIOS_PPM_TIM TIM1
|
||||
#define PIOS_PPM_TIM_IRQ TIM1_CC_IRQn
|
||||
#define PIOS_PPM_NUM_INPUTS 8 //Could be more if needed
|
||||
#define PIOS_PPM_SUPV_ENABLED 1
|
||||
#define PIOS_PPM_SUPV_TIMER TIM6
|
||||
#define PIOS_PPM_SUPV_TIMER_RCC_FUNC RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM6, ENABLE)
|
||||
#define PIOS_PPM_SUPV_HZ 25
|
||||
#define PIOS_PPM_SUPV_IRQ_CHANNEL TIM6_IRQn
|
||||
#define PIOS_PPM_SUPV_IRQ_FUNC void TIM6_IRQHandler(void)
|
||||
|
||||
|
||||
//-------------------------
|
||||
// Servo outputs
|
||||
//-------------------------
|
||||
#define PIOS_SERVO_GPIO_PORT_1TO4 GPIOB
|
||||
#define PIOS_SERVO_GPIO_PIN_1 GPIO_Pin_6
|
||||
#define PIOS_SERVO_GPIO_PIN_2 GPIO_Pin_7
|
||||
#define PIOS_SERVO_GPIO_PIN_3 GPIO_Pin_8
|
||||
#define PIOS_SERVO_GPIO_PIN_4 GPIO_Pin_9
|
||||
#define PIOS_SERVO_GPIO_PORT_5TO8 GPIOC
|
||||
#define PIOS_SERVO_GPIO_PIN_5 GPIO_Pin_6
|
||||
#define PIOS_SERVO_GPIO_PIN_6 GPIO_Pin_7
|
||||
#define PIOS_SERVO_GPIO_PIN_7 GPIO_Pin_8
|
||||
#define PIOS_SERVO_GPIO_PIN_8 GPIO_Pin_9
|
||||
#define PIOS_SERVO_NUM_OUTPUTS 8
|
||||
#define PIOS_SERVO_NUM_TIMERS PIOS_SERVO_NUM_OUTPUTS
|
||||
#define PIOS_SERVO_UPDATE_HZ 50
|
||||
#define PIOS_SERVOS_INITIAL_POSITION 1500
|
||||
|
||||
//-------------------------
|
||||
// ADC
|
||||
// PIOS_ADC_PinGet(0) = Temperature Sensor (On-board)
|
||||
// PIOS_ADC_PinGet(1) = Power Sensor (Current)
|
||||
// PIOS_ADC_PinGet(2) = Power Sensor (Voltage)
|
||||
// PIOS_ADC_PinGet(3) = On-board 5v Rail Sensor
|
||||
// PIOS_ADC_PinGet(4) = Auxiliary Input 1
|
||||
// PIOS_ADC_PinGet(5) = Auxiliary Input 2
|
||||
// PIOS_ADC_PinGet(6) = Auxiliary Input 3
|
||||
//-------------------------
|
||||
//#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 // PA1 (Power Sense - Voltage)
|
||||
#define PIOS_ADC_PIN1_GPIO_PIN GPIO_Pin_1 // ADC123_IN1
|
||||
#define PIOS_ADC_PIN1_GPIO_CHANNEL ADC_Channel_1
|
||||
#define PIOS_ADC_PIN1_ADC ADC1
|
||||
#define PIOS_ADC_PIN1_ADC_NUMBER 2
|
||||
#define PIOS_ADC_PIN2_GPIO_PORT GPIOC // PC3 (Power Sense - Current)
|
||||
#define PIOS_ADC_PIN2_GPIO_PIN GPIO_Pin_3 // ADC123_IN13
|
||||
#define PIOS_ADC_PIN2_GPIO_CHANNEL ADC_Channel_13
|
||||
#define PIOS_ADC_PIN2_ADC ADC2
|
||||
#define PIOS_ADC_PIN2_ADC_NUMBER 1
|
||||
#define PIOS_ADC_PIN3_GPIO_PORT GPIOC // PC5 (Onboard 5v Sensor) PC5
|
||||
#define PIOS_ADC_PIN3_GPIO_PIN GPIO_Pin_5 // ADC12_IN15
|
||||
#define PIOS_ADC_PIN3_GPIO_CHANNEL ADC_Channel_15
|
||||
#define PIOS_ADC_PIN3_ADC ADC2
|
||||
#define PIOS_ADC_PIN3_ADC_NUMBER 2
|
||||
#define PIOS_ADC_PIN4_GPIO_PORT GPIOC // PC0 (AUX 1)
|
||||
#define PIOS_ADC_PIN4_GPIO_PIN GPIO_Pin_0 // ADC123_IN10
|
||||
#define PIOS_ADC_PIN4_GPIO_CHANNEL ADC_Channel_10
|
||||
#define PIOS_ADC_PIN4_ADC ADC1
|
||||
#define PIOS_ADC_PIN4_ADC_NUMBER 3
|
||||
#define PIOS_ADC_PIN5_GPIO_PORT GPIOC // PC1 (AUX 2)
|
||||
#define PIOS_ADC_PIN5_GPIO_PIN GPIO_Pin_1 // ADC123_IN11
|
||||
#define PIOS_ADC_PIN5_GPIO_CHANNEL ADC_Channel_11
|
||||
#define PIOS_ADC_PIN5_ADC ADC2
|
||||
#define PIOS_ADC_PIN5_ADC_NUMBER 3
|
||||
#define PIOS_ADC_PIN6_GPIO_PORT GPIOC // PC2 (AUX 3)
|
||||
#define PIOS_ADC_PIN6_GPIO_PIN GPIO_Pin_2 // ADC123_IN12
|
||||
#define PIOS_ADC_PIN6_GPIO_CHANNEL ADC_Channel_12
|
||||
#define PIOS_ADC_PIN6_ADC ADC1
|
||||
#define PIOS_ADC_PIN6_ADC_NUMBER 4
|
||||
#define PIOS_ADC_NUM_PINS 6
|
||||
#define PIOS_ADC_PORTS { PIOS_ADC_PIN1_GPIO_PORT, PIOS_ADC_PIN2_GPIO_PORT, PIOS_ADC_PIN3_GPIO_PORT, PIOS_ADC_PIN4_GPIO_PORT, PIOS_ADC_PIN5_GPIO_PORT, PIOS_ADC_PIN6_GPIO_PORT }
|
||||
#define PIOS_ADC_PINS { PIOS_ADC_PIN1_GPIO_PIN, PIOS_ADC_PIN2_GPIO_PIN, PIOS_ADC_PIN3_GPIO_PIN, PIOS_ADC_PIN4_GPIO_PIN, PIOS_ADC_PIN5_GPIO_PIN, PIOS_ADC_PIN6_GPIO_PIN }
|
||||
#define PIOS_ADC_CHANNELS { PIOS_ADC_PIN1_GPIO_CHANNEL, PIOS_ADC_PIN2_GPIO_CHANNEL, PIOS_ADC_PIN3_GPIO_CHANNEL, PIOS_ADC_PIN4_GPIO_CHANNEL, PIOS_ADC_PIN5_GPIO_CHANNEL, PIOS_ADC_PIN6_GPIO_CHANNEL }
|
||||
#define PIOS_ADC_MAPPING { PIOS_ADC_PIN1_ADC, PIOS_ADC_PIN2_ADC, PIOS_ADC_PIN3_ADC, PIOS_ADC_PIN4_ADC, PIOS_ADC_PIN5_ADC, PIOS_ADC_PIN6_ADC }
|
||||
#define PIOS_ADC_CHANNEL_MAPPING { PIOS_ADC_PIN1_ADC_NUMBER, PIOS_ADC_PIN2_ADC_NUMBER, PIOS_ADC_PIN3_ADC_NUMBER, PIOS_ADC_PIN4_ADC_NUMBER, PIOS_ADC_PIN5_ADC_NUMBER, PIOS_ADC_PIN6_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 293.5 cycles: */
|
||||
/* Tconv = 239.5 + 12.5 = 252 cycles = 18?s */
|
||||
/* (1 / (ADCCLK / CYCLES)) = Sample Time (?S) */
|
||||
#define PIOS_ADC_IRQ_PRIO PIOS_IRQ_PRIO_HIGH
|
||||
|
||||
//-------------------------
|
||||
// GPIO
|
||||
//-------------------------
|
||||
#define PIOS_GPIO_1_PORT GPIOC
|
||||
#define PIOS_GPIO_1_PIN GPIO_Pin_0
|
||||
#define PIOS_GPIO_1_GPIO_CLK RCC_APB2Periph_GPIOC
|
||||
#define PIOS_GPIO_2_PORT GPIOC
|
||||
#define PIOS_GPIO_2_PIN GPIO_Pin_1
|
||||
#define PIOS_GPIO_2_GPIO_CLK RCC_APB2Periph_GPIOC
|
||||
#define PIOS_GPIO_3_PORT GPIOC
|
||||
#define PIOS_GPIO_3_PIN GPIO_Pin_2
|
||||
#define PIOS_GPIO_3_GPIO_CLK RCC_APB2Periph_GPIOC
|
||||
#define PIOS_GPIO_4_PORT GPIOD
|
||||
#define PIOS_GPIO_4_PIN GPIO_Pin_2
|
||||
#define PIOS_GPIO_4_GPIO_CLK RCC_APB2Periph_GPIOD
|
||||
#define PIOS_GPIO_PORTS { PIOS_GPIO_1_PORT, PIOS_GPIO_2_PORT, PIOS_GPIO_3_PORT, PIOS_GPIO_4_PORT }
|
||||
#define PIOS_GPIO_PINS { PIOS_GPIO_1_PIN, PIOS_GPIO_2_PIN, PIOS_GPIO_3_PIN, PIOS_GPIO_4_PIN }
|
||||
#define PIOS_GPIO_CLKS { PIOS_GPIO_1_GPIO_CLK, PIOS_GPIO_2_GPIO_CLK, PIOS_GPIO_3_GPIO_CLK, PIOS_GPIO_4_GPIO_CLK }
|
||||
#define PIOS_GPIO_NUM 4
|
||||
|
||||
//-------------------------
|
||||
// USB
|
||||
//-------------------------
|
||||
#define PIOS_USB_ENABLED 1
|
||||
#define PIOS_USB_DETECT_GPIO_PORT GPIOC
|
||||
#define PIOS_USB_DETECT_GPIO_PIN GPIO_Pin_4
|
||||
#define PIOS_USB_DETECT_EXTI_LINE EXTI_Line4
|
||||
#define PIOS_IRQ_USB_PRIORITY PIOS_IRQ_PRIO_MID
|
||||
|
||||
/**
|
||||
* glue macros for file IO
|
||||
* STM32 uses DOSFS for file IO
|
||||
*/
|
||||
#define PIOS_FOPEN_READ(filename,file) DFS_OpenFile(&PIOS_SDCARD_VolInfo, (uint8_t *)filename, DFS_READ, PIOS_SDCARD_Sector, &file) != DFS_OK
|
||||
|
||||
#define PIOS_FOPEN_WRITE(filename,file) DFS_OpenFile(&PIOS_SDCARD_VolInfo, (uint8_t *)filename, DFS_WRITE, PIOS_SDCARD_Sector, &file) != DFS_OK
|
||||
|
||||
#define PIOS_FREAD(file,bufferadr,length,resultadr) DFS_ReadFile(file, PIOS_SDCARD_Sector, (uint8_t*)bufferadr, resultadr, length) != DFS_OK
|
||||
|
||||
#define PIOS_FWRITE(file,bufferadr,length,resultadr) DFS_WriteFile(file, PIOS_SDCARD_Sector, (uint8_t*)bufferadr, resultadr, length)
|
||||
|
||||
#define PIOS_FCLOSE(file) DFS_Close(&file)
|
||||
|
||||
#define PIOS_FUNLINK(filename) DFS_UnlinkFile(&PIOS_SDCARD_VolInfo, (uint8_t *)filename, PIOS_SDCARD_Sector)
|
||||
|
||||
|
||||
|
||||
#endif /* STM3210E_OP_H_ */
|
||||
/**
|
||||
* @}
|
||||
* @}
|
||||
*/
|
||||
10
flight/PiOS/Boards/pios_board.h
Normal file
10
flight/PiOS/Boards/pios_board.h
Normal file
@ -0,0 +1,10 @@
|
||||
#ifndef PIOS_BOARD_H_
|
||||
#define PIOS_BOARD_H_
|
||||
|
||||
#ifdef USE_STM32103CB_AHRS
|
||||
#include "STM32103CB_AHRS.h"
|
||||
#elif USE_STM3210E_OP
|
||||
#include "STM3210E_OP.h"
|
||||
#endif
|
||||
|
||||
#endif /* PIOS_BOARD_H_ */
|
||||
Loading…
Reference in New Issue
Block a user