/** ****************************************************************************** * * @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 STM32103CB_AHRS_H_ #define STM32103CB_AHRS_H_ //------------------------ // Timers and Channels Used //------------------------ /* Timer | Channel 1 | Channel 2 | Channel 3 | Channel 4 ------+-----------+-----------+-----------+---------- TIM1 | | | | TIM2 | --------------- PIOS_DELAY ----------------- TIM3 | | | | TIM4 | | | | TIM5 | | | | TIM6 | | | | TIM7 | | | | TIM8 | | | | ------+-----------+-----------+-----------+---------- */ //------------------------ // DMA Channels Used //------------------------ /* Channel 1 - */ /* Channel 2 - */ /* Channel 3 - */ /* Channel 4 - */ /* Channel 5 - */ /* Channel 6 - */ /* Channel 7 - */ /* Channel 8 - */ /* Channel 9 - */ /* Channel 10 - */ /* Channel 11 - */ /* Channel 12 - */ //------------------------ // BOOTLOADER_SETTINGS //------------------------ #define BOARD_READABLE TRUE #define BOARD_WRITABLE TRUE #define MAX_DEL_RETRYS 3 //------------------------ // PIOS_LED //------------------------ #define PIOS_LED_HEARTBEAT 0 //------------------------- // System Settings //------------------------- #define PIOS_MASTER_CLOCK 72000000 #define PIOS_PERIPHERAL_CLOCK (PIOS_MASTER_CLOCK / 2) //------------------------- // Interrupt Priorities //------------------------- #define PIOS_IRQ_PRIO_LOW 12 // lower than RTOS #define PIOS_IRQ_PRIO_MID 8 // higher than RTOS #define PIOS_IRQ_PRIO_HIGH 5 // for SPI, ADC, I2C etc... #define PIOS_IRQ_PRIO_HIGHEST 4 // for USART etc... //------------------------ // PIOS_I2C // See also pios_board.c //------------------------ #define PIOS_I2C_MAX_DEVS 1 extern uint32_t pios_i2c_main_adapter_id; #define PIOS_I2C_MAIN_ADAPTER (pios_i2c_main_adapter_id) //------------------------- // SPI // // See also pios_board.c //------------------------- #define PIOS_SPI_MAX_DEVS 1 //------------------------- // PIOS_USART //------------------------- #define PIOS_USART_MAX_DEVS 2 //------------------------- // PIOS_COM // // See also pios_board.c //------------------------- #define PIOS_COM_MAX_DEVS 2 extern uint32_t pios_com_aux_id; #define PIOS_COM_AUX (pios_com_aux_id) #define PIOS_COM_DEBUG PIOS_COM_AUX //------------------------- // ADC // PIOS_ADC_PinGet(0) = Accel Z // PIOS_ADC_PinGet(2) = Accel Y // PIOS_ADC_PinGet(4) = Accel X // PIOS_ADC_PinGet(1) = Gyro X // PIOS_ADC_PinGet(3) = Gyro Y // PIOS_ADC_PinGet(5) = Gyro Z // PIOS_ADC_PinGet(6) = XY Temp // PIOS_ADC_PinGet(7) = Z Temp //------------------------- //#define PIOS_ADC_OVERSAMPLING_RATE 1 #define PIOS_ADC_USE_TEMP_SENSOR 0 #define PIOS_ADC_TEMP_SENSOR_ADC ADC1 #define PIOS_ADC_TEMP_SENSOR_ADC_CHANNEL 1 #define PIOS_ADC_PIN1_GPIO_PORT GPIOA // PA2 (Accel X) #define PIOS_ADC_PIN1_GPIO_PIN GPIO_Pin_2 // ADC12_IN2 #define PIOS_ADC_PIN1_GPIO_CHANNEL ADC_Channel_2 #define PIOS_ADC_PIN1_ADC ADC1 #define PIOS_ADC_PIN1_ADC_NUMBER 1 #define PIOS_ADC_PIN2_GPIO_PORT GPIOA // PA1 (Accel Y) #define PIOS_ADC_PIN2_GPIO_PIN GPIO_Pin_1 // ADC123_IN1 #define PIOS_ADC_PIN2_GPIO_CHANNEL ADC_Channel_1 #define PIOS_ADC_PIN2_ADC ADC1 #define PIOS_ADC_PIN2_ADC_NUMBER 2 #define PIOS_ADC_PIN3_GPIO_PORT GPIOA // PA0 (Accel Z) #define PIOS_ADC_PIN3_GPIO_PIN GPIO_Pin_0 // ADC12_IN0 #define PIOS_ADC_PIN3_GPIO_CHANNEL ADC_Channel_0 #define PIOS_ADC_PIN3_ADC ADC1 #define PIOS_ADC_PIN3_ADC_NUMBER 3 #define PIOS_ADC_PIN4_GPIO_PORT GPIOA // PA6 (Temp_XY) #define PIOS_ADC_PIN4_GPIO_PIN GPIO_Pin_6 // ADC12_IN6 #define PIOS_ADC_PIN4_GPIO_CHANNEL ADC_Channel_6 #define PIOS_ADC_PIN4_ADC ADC1 #define PIOS_ADC_PIN4_ADC_NUMBER 4 #define PIOS_ADC_PIN5_GPIO_PORT GPIOA // PA4 (Gyro X) #define PIOS_ADC_PIN5_GPIO_PIN GPIO_Pin_4 // ADC12_IN4 #define PIOS_ADC_PIN5_GPIO_CHANNEL ADC_Channel_4 #define PIOS_ADC_PIN5_ADC ADC2 #define PIOS_ADC_PIN5_ADC_NUMBER 1 #define PIOS_ADC_PIN6_GPIO_PORT GPIOA // PA5 (Gyro Y) #define PIOS_ADC_PIN6_GPIO_PIN GPIO_Pin_5 // ADC12_IN5 #define PIOS_ADC_PIN6_GPIO_CHANNEL ADC_Channel_5 #define PIOS_ADC_PIN6_ADC ADC2 #define PIOS_ADC_PIN6_ADC_NUMBER 2 #define PIOS_ADC_PIN7_GPIO_PORT GPIOA // PA7 (Gyro Z) #define PIOS_ADC_PIN7_GPIO_PIN GPIO_Pin_7 // ADC12_IN7 #define PIOS_ADC_PIN7_GPIO_CHANNEL ADC_Channel_7 #define PIOS_ADC_PIN7_ADC ADC2 #define PIOS_ADC_PIN7_ADC_NUMBER 3 #define PIOS_ADC_PIN8_GPIO_PORT GPIOB // PB1 (Z Temp) #define PIOS_ADC_PIN8_GPIO_PIN GPIO_Pin_1 // ADC12_IN9 #define PIOS_ADC_PIN8_GPIO_CHANNEL ADC_Channel_9 #define PIOS_ADC_PIN8_ADC ADC2 #define PIOS_ADC_PIN8_ADC_NUMBER 4 #define PIOS_ADC_NUM_PINS 8 #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 } #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 } #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 } #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 } #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 } #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_ADCCLK RCC_PCLK2_Div2 #define PIOS_ADC_PCLK2 RCC_HCLK_Div16 #define PIOS_ADC_CLOCK_FUNCTION RCC_APB2PeriphClockCmd(RCC_APB2Periph_ADC1 | RCC_APB2Periph_ADC2, ENABLE); RCC_PCLK2Config(PIOS_ADC_PCLK2); /* 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 239.5 cycles: */ /* Tconv = 239.5 + 12.5 = 252 cycles = 18�s */ /* (1 / (ADCCLK / CYCLES)) = Sample Time (�S) */ #define PIOS_ADC_IRQ_PRIO PIOS_IRQ_PRIO_LOW // Currently analog acquistion hard coded at 480 Hz // PCKL2 = HCLK / 16 // ADCCLK = PCLK2 / 2 #define PIOS_ADC_RATE (72.0e6 / 16 / 2 / 252 / (PIOS_ADC_NUM_PINS / 2)) #define EKF_RATE (PIOS_ADC_RATE / adc_oversampling / 2) #define PIOS_ADC_MAX_OVERSAMPLING 50 //------------------------- // GPIO //------------------------- #define PIOS_GPIO_1_PORT GPIOB #define PIOS_GPIO_1_PIN GPIO_Pin_9 #define PIOS_GPIO_1_GPIO_CLK RCC_APB2Periph_GPIOB #define PIOS_GPIO_PORTS { PIOS_GPIO_1_PORT } #define PIOS_GPIO_PINS { PIOS_GPIO_1_PIN } #define PIOS_GPIO_CLKS { PIOS_GPIO_1_GPIO_CLK } #define PIOS_GPIO_NUM 1 #define SET_ACCEL_2G PIOS_GPIO_On(0); #define SET_ACCEL_6G PIOS_GPIO_Off(0) //------------------------ // PIOS_HMC5843 //------------------------ #define PIOS_HMC5843_DRDY_GPIO_PORT GPIOB #define PIOS_HMC5843_DRDY_GPIO_PIN GPIO_Pin_8 #define PIOS_HMC5843_DRDY_PORT_SOURCE GPIO_PortSourceGPIOB #define PIOS_HMC5843_DRDY_PIN_SOURCE GPIO_PinSource8 #define PIOS_HMC5843_DRDY_CLK RCC_APB2Periph_GPIOB #define PIOS_HMC5843_DRDY_EXTI_LINE EXTI_Line8 #define PIOS_HMC5843_DRDY_IRQn EXTI9_5_IRQn #define PIOS_HMC5843_DRDY_PRIO PIOS_IRQ_PRIO_HIGH #endif /* STM32103CB_AHRS_H_ */