/** ****************************************************************************** * @addtogroup OpenPilotSystem OpenPilot System * @{ * @addtogroup OpenPilotCore OpenPilot Core * @{ * @file pios_board.h * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012. * @brief Defines board hardware for the OpenPilot Version 1.1 hardware. * @see The GNU Public License (GPL) Version 3 * *****************************************************************************/ /* * This program is free software; you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by * the Free Software Foundation; either version 3 of the License, or * (at your option) any later version. * * This program is distributed in the hope that it will be useful, but * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License * for more details. * * You should have received a copy of the GNU General Public License along * with this program; if not, write to the Free Software Foundation, Inc., * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA */ #ifndef STM3210E_INS_H_ #include #define DEBUG_LEVEL 0 #define DEBUG_PRINTF(level, ...) {if(level <= DEBUG_LEVEL && pios_com_aux_id > 0) { PIOS_COM_SendFormattedStringNonBlocking(pios_com_aux_id, __VA_ARGS__); }} //------------------------ // Timers and Channels Used //------------------------ /* Timer | Channel 1 | Channel 2 | Channel 3 | Channel 4 ------+-----------+-----------+-----------+---------- TIM1 | | | | TIM2 | --------------- PIOS_DELAY ----------------- TIM3 | | | | TIM4 | | | | TIM5 | | | | TIM6 | | | | TIM7 | | | | TIM8 | | | | ------+-----------+-----------+-----------+---------- */ //------------------------ // DMA Channels Used //------------------------ /* Channel 1 - */ /* Channel 2 - SPI1 RX */ /* Channel 3 - SPI1 TX */ /* Channel 4 - SPI2 RX */ /* Channel 5 - SPI2 TX */ /* Channel 6 - */ /* Channel 7 - */ /* Channel 8 - */ /* Channel 9 - */ /* Channel 10 - */ /* Channel 11 - */ /* Channel 12 - */ //------------------------ // BOOTLOADER_SETTINGS //------------------------ #define BOARD_READABLE true #define BOARD_WRITABLE true #define MAX_DEL_RETRYS 3 //------------------------ // PIOS_LED //------------------------ #define PIOS_LED_HEARTBEAT 0 #define PIOS_LED_ALARM 1 //------------------------ // PIOS_SPI // See also pios_board.c //------------------------ #define PIOS_SPI_MAX_DEVS 3 //------------------------ // PIOS_WDG //------------------------ #define PIOS_WATCHDOG_TIMEOUT 250 #define PIOS_WDG_REGISTER RTC_BKP_DR4 #define PIOS_WDG_ACTUATOR 0x0001 #define PIOS_WDG_STABILIZATION 0x0002 #define PIOS_WDG_ATTITUDE 0x0004 #define PIOS_WDG_MANUAL 0x0008 #define PIOS_WDG_SENSORS 0x0010 //------------------------ // PIOS_I2C // See also pios_board.c //------------------------ #define PIOS_I2C_MAX_DEVS 3 extern uint32_t pios_i2c_mag_pressure_adapter_id; #define PIOS_I2C_MAIN_ADAPTER (pios_i2c_mag_pressure_adapter_id) extern uint32_t pios_i2c_flexiport_adapter_id; #define PIOS_I2C_FLEXI_ADAPTER (pios_i2c_flexiport_adapter_id) #define PIOS_I2C_ETASV3_ADAPTER (PIOS_I2C_FLEXI_ADAPTER) //------------------------- // PIOS_USART // // See also pios_board.c //------------------------- #define PIOS_USART_MAX_DEVS 5 //------------------------- // PIOS_COM // // See also pios_board.c //------------------------- #define PIOS_COM_MAX_DEVS 4 extern uint32_t pios_com_telem_rf_id; extern uint32_t pios_com_gps_id; extern uint32_t pios_com_aux_id; extern uint32_t pios_com_telem_usb_id; extern uint32_t pios_com_bridge_id; extern uint32_t pios_com_vcp_id; #define PIOS_COM_AUX (pios_com_aux_id) #define PIOS_COM_GPS (pios_com_gps_id) #define PIOS_COM_TELEM_USB (pios_com_telem_usb_id) #define PIOS_COM_TELEM_RF (pios_com_telem_rf_id) #define PIOS_COM_BRIDGE (pios_com_bridge_id) #define PIOS_COM_VCP (pios_com_vcp_id) #define PIOS_COM_DEBUG PIOS_COM_AUX #if defined(PIOS_INCLUDE_RFM22B) #define PIOS_COM_RFM22B_RF_RX_BUF_LEN 512 #define PIOS_COM_RFM22B_RF_TX_BUF_LEN 512 extern uint32_t pios_com_rfm22b_id; #define PIOS_COM_RADIO (pios_com_rfm22b_id) extern uint32_t pios_spi_telem_flash_id; #define PIOS_RFM22_SPI_PORT (pios_spi_telem_flash_id) #endif /* PIOS_INCLUDE_RFM22B */ //------------------------- // Packet Handler //------------------------- #define RS_ECC_NPARITY 4 #define PIOS_PH_MAX_PACKET 255 #define PIOS_PH_WIN_SIZE 3 #define PIOS_PH_MAX_CONNECTIONS 1 extern uint32_t pios_packet_handler; #define PIOS_PACKET_HANDLER (pios_packet_handler) //------------------------ // TELEMETRY //------------------------ #define TELEM_QUEUE_SIZE 80 #define PIOS_TELEM_STACK_SIZE 624 //------------------------- // System Settings // // See also System_stm32f4xx.c //------------------------- //These macros are deprecated //please use PIOS_PERIPHERAL_APBx_CLOCK According to the table below //#define PIOS_MASTER_CLOCK //#define PIOS_PERIPHERAL_CLOCK //#define PIOS_PERIPHERAL_CLOCK #define PIOS_SYSCLK 168000000 // Peripherals that belongs to APB1 are: // DAC |PWR |CAN1,2 // I2C1,2,3 |UART4,5 |USART3,2 // I2S3Ext |SPI3/I2S3 |SPI2/I2S2 // I2S2Ext |IWDG |WWDG // RTC/BKP reg // TIM2,3,4,5,6,7,12,13,14 // Calculated as SYSCLK / APBPresc * (APBPre == 1 ? 1 : 2) // Default APB1 Prescaler = 4 #define PIOS_PERIPHERAL_APB1_CLOCK (PIOS_SYSCLK / 2) // Peripherals belonging to APB2 // SDIO |EXTI |SYSCFG |SPI1 // ADC1,2,3 // USART1,6 // TIM1,8,9,10,11 // // Default APB2 Prescaler = 2 // #define PIOS_PERIPHERAL_APB2_CLOCK PIOS_SYSCLK //------------------------- // 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_RCVR // See also pios_board.c //------------------------ #define PIOS_RCVR_MAX_DEVS 3 #define PIOS_RCVR_MAX_CHANNELS 12 #define PIOS_GCSRCVR_TIMEOUT_MS 100 //------------------------- // Receiver PPM input //------------------------- #define PIOS_PPM_MAX_DEVS 1 #define PIOS_PPM_NUM_INPUTS 12 //------------------------- // Receiver PWM input //------------------------- #define PIOS_PWM_MAX_DEVS 1 #define PIOS_PWM_NUM_INPUTS 8 //------------------------- // Receiver SPEKTRUM input //------------------------- #define PIOS_SPEKTRUM_MAX_DEVS 2 #define PIOS_SPEKTRUM_NUM_INPUTS 12 //------------------------- // Receiver S.Bus input //------------------------- #define PIOS_SBUS_MAX_DEVS 1 #define PIOS_SBUS_NUM_INPUTS (16+2) //------------------------- // Receiver DSM input //------------------------- #define PIOS_DSM_MAX_DEVS 2 #define PIOS_DSM_NUM_INPUTS 12 //------------------------- // Servo outputs //------------------------- #define PIOS_SERVO_UPDATE_HZ 50 #define PIOS_SERVOS_INITIAL_POSITION 0 /* dont want to start motors, have no pulse till settings loaded */ //-------------------------- // Timer controller settings //-------------------------- #define PIOS_TIM_MAX_DEVS 6 //------------------------- // ADC // PIOS_ADC_PinGet(0) = Current sensor // PIOS_ADC_PinGet(1) = Voltage sensor // PIOS_ADC_PinGet(4) = VREF // PIOS_ADC_PinGet(5) = Temperature sensor //------------------------- #define PIOS_DMA_PIN_CONFIG \ { \ {GPIOC, GPIO_Pin_1, ADC_Channel_11}, \ {GPIOC, GPIO_Pin_2, ADC_Channel_12}, \ {NULL, 0, ADC_Channel_Vrefint}, /* Voltage reference */ \ {NULL, 0, ADC_Channel_TempSensor}, /* Temperature sensor */ \ {GPIOC, GPIO_Pin_2, ADC_Channel_12} \ } /* we have to do all this to satisfy the PIOS_ADC_MAX_SAMPLES define in pios_adc.h */ /* which is annoying because this then determines the rate at which we generate buffer turnover events */ /* the objective here is to get enough buffer space to support 100Hz averaging rate */ #define PIOS_ADC_NUM_CHANNELS 4 #define PIOS_ADC_MAX_OVERSAMPLING 2 #define PIOS_ADC_USE_ADC2 0 #define PIOS_ADC_VOLTAGE_SCALE 3.30/4096.0 //------------------------- // USB //------------------------- #define PIOS_USB_MAX_DEVS 1 #define PIOS_USB_ENABLED 1 /* Should remove all references to this */ #define PIOS_USB_HID_MAX_DEVS 1 #endif /* STM3210E_INS_H_ */ /** * @} * @} */