/** ****************************************************************************** * * @file pios_board.h * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2009. * @brief Defines board hardware for the OpenPilot Version 0.1 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 //------------------------ // 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 - */ //------------------------ // Leds Definition //------------------------ #define LED1_GPIO_PORT GPIOC #define LED1_GPIO_PIN GPIO_Pin_12 #define LED1_GPIO_CLK RCC_APB2Periph_GPIOC #define LED2_GPIO_PORT GPIOC #define LED2_GPIO_PIN GPIO_Pin_13 #define LED2_GPIO_CLK RCC_APB2Periph_GPIOC #define NUM_LED 2 //------------------------ // I2C //------------------------ #define I2C_GPIO_PORT GPIOB #define I2C_SDA_PIN GPIO_Pin_11 #define I2C_SCL_PIN GPIO_Pin_10 #define I2C_DUTY_CYCLE I2C_DutyCycle_2 #define I2C_BUS_FREQUENCY 400000 #define I2C_TIMEOUT_VALUE 5000 #define IRQ_I2C_EV_PRIORITY 2 #define IRQ_I2C_ER_PRIORITY 2 //------------------------ // Onboard Pressure sensor //------------------------ #define BMP085_EOC_GPIO_PORT GPIOC #define BMP085_EOC_GPIO_PIN GPIO_Pin_15 #define BMP085_EOC_PORT_SOURCE GPIO_PortSourceGPIOG #define BMP085_EOC_PIN_SOURCE GPIO_PinSource8 #define BMP085_EOC_CLK RCC_APB2Periph_GPIOC #define BMP085_EOC_EXTI_LINE EXTI_Line15 #define BMP085_EOC_IRQn EXTI15_10_IRQn /* Unused, repurpose PA1 as another ADC input? #define BMP085_XCLR_GPIO_PORT GPIOA #define BMP085_XCLR_GPIO_PIN GPIO_Pin_1 */ //------------------------- // GPS USART //------------------------- #define GPS_USART USART2 #define GPS_GPIO_PORT GPIOA #define GPS_RX_PIN GPIO_Pin_3 #define GPS_TX_PIN GPIO_Pin_2 #define GPS_REMAP_FUNC { } #define GPS_IRQ_CHANNEL USART2_IRQn #define GPS_IRQHANDLER_FUNC void USART2_IRQHandler(void) #define GPS_CLK_FUNC RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART2, ENABLE) #define GPS_NVIC_PRIO IRQ_PRIO_HIGHEST //------------------------- // Telemetry radio USART //------------------------- #define TELEM_USART USART3 #define TELEM_GPIO_PORT GPIOC #define TELEM_RX_PIN GPIO_Pin_11 #define TELEM_TX_PIN GPIO_Pin_10 #define TELEM_REMAP_FUNC { GPIO_PinRemapConfig(GPIO_PartialRemap_USART3, ENABLE); } #define TELEM_IRQ_CHANNEL USART3_IRQn #define TELEM_IRQHANDLER_FUNC void USART3_IRQHandler(void) #define TELEM_CLK_FUNC RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART3, ENABLE) #define TELEM_NVIC_PRIO IRQ_PRIO_HIGHEST //------------------------- // AUXSER USART (available instead of RX5/RX6) //------------------------- #define AUX_USART_USART USART1 #define AUX_USART_GPIO_PORT GPIOA #define AUX_USART_RX_PIN GPIO_Pin_10 #define AUX_USART_TX_PIN GPIO_Pin_9 #define AUX_USART_REMAP_FUNC { } #define AUX_USART_IRQ_CHANNEL USART1_IRQn #define AUX_USART_IRQHANDLER_FUNC void USART1_IRQHandler(void) #define AUX_USART_CLK_FUNC RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1, ENABLE) #define AUX_USART_NVIC_PRIO IRQ_PRIO_HIGH //------------------------- // USART Serial Ports //------------------------- #define USART_NUM 3 #define USART_RX_BUFFER_SIZE 1024 #define USART_TX_BUFFER_SIZE 256 #define COM_DEBUG_PORT GPS //------------------------- // SPI //------------------------- #define PIOS_IRQ_SPI_DMA_PRIORITY IRQ_PRIO_HIGH #define PIOS_SPI0_PTR SPI1 #define PIOS_SPI0_DMA_RX_PTR DMA1_Channel2 #define PIOS_SPI0_DMA_TX_PTR DMA1_Channel3 #define PIOS_SPI0_DMA_RX_IRQ_FLAGS (DMA1_FLAG_TC2 | DMA1_FLAG_TE2 | DMA1_FLAG_HT2 | DMA1_FLAG_GL2) #define PIOS_SPI0_DMA_IRQ_CHANNEL DMA1_Channel2_IRQn #define PIOS_SPI0_DMA_IRQHANDLER_FUNC void DMA1_Channel2_IRQHandler(void) #define PIOS_SPI0_RCLK1_PORT GPIOA #define PIOS_SPI0_RCLK1_PIN GPIO_Pin_4 #define PIOS_SPI0_SCLK_PORT GPIOA #define PIOS_SPI0_SCLK_PIN GPIO_Pin_5 #define PIOS_SPI0_MISO_PORT GPIOA #define PIOS_SPI0_MISO_PIN GPIO_Pin_6 #define PIOS_SPI0_MOSI_PORT GPIOA #define PIOS_SPI0_MOSI_PIN GPIO_Pin_7 #define PIOS_SPI1_PTR SPI2 #define PIOS_SPI1_DMA_RX_PTR DMA1_Channel4 #define PIOS_SPI1_DMA_TX_PTR DMA1_Channel5 #define PIOS_SPI1_DMA_RX_IRQ_FLAGS (DMA1_FLAG_TC4 | DMA1_FLAG_TE4 | DMA1_FLAG_HT4 | DMA1_FLAG_GL4) #define PIOS_SPI1_DMA_IRQ_CHANNEL DMA1_Channel4_IRQn #define PIOS_SPI1_DMA_IRQHANDLER_FUNC void DMA1_Channel4_IRQHandler(void) #define PIOS_SPI1_RCLK1_PORT GPIOB #define PIOS_SPI1_RCLK1_PIN GPIO_Pin_12 #define PIOS_SPI1_SCLK_PORT GPIOB #define PIOS_SPI1_SCLK_PIN GPIO_Pin_13 #define PIOS_SPI1_MISO_PORT GPIOB #define PIOS_SPI1_MISO_PIN GPIO_Pin_14 #define PIOS_SPI1_MOSI_PORT GPIOB #define PIOS_SPI1_MOSI_PIN GPIO_Pin_15 //------------------------- // SDCard //------------------------- #define PIOS_SDCARD_SPI 0 //------------------------- // Receiver PWM inputs //------------------------- #define RECEIVER1_GPIO_PORT GPIOB #define RECEIVER1_PIN GPIO_Pin_0 // PB0 #define RECEIVER1_TIM_PORT TIM3 #define RECEIVER1_CH TIM_Channel_3 // TIM3_CH3 #define RECEIVER2_GPIO_PORT GPIOB #define RECEIVER2_PIN GPIO_Pin_1 // PB1 #define RECEIVER2_TIM_PORT TIM3 #define RECEIVER2_CH TIM_Channel_4 // TIM3_CH4 #define RECEIVER3_GPIO_PORT GPIOA #define RECEIVER3_PIN GPIO_Pin_8 // PA8 #define RECEIVER3_TIM_PORT TIM1 #define RECEIVER3_CH TIM_Channel_1 // TIM1_CH1 #define RECEIVER4_GPIO_PORT GPIOA #define RECEIVER4_PIN GPIO_Pin_0 // PA0 #define RECEIVER4_TIM_PORT TIM5 #define RECEIVER4_CH TIM_Channel_1 // TIM5_CH1 #define RECEIVER5_GPIO_PORT GPIOA #define RECEIVER5_PIN GPIO_Pin_10 // PA10 #define RECEIVER5_TIM_PORT TIM1 #define RECEIVER5_CH TIM_Channel_3 // TIM1_CH3 #define RECEIVER6_GPIO_PORT GPIOA #define RECEIVER6_PIN GPIO_Pin_9 // PA9 #define RECEIVER6_TIM_PORT TIM1 #define RECEIVER6_CH TIM_Channel_2 // TIM1_CH2 /* Not used in v0.1 HW #define RECEIVER7_GPIO_PORT GPIOB #define RECEIVER7_PIN GPIO_Pin_4 // PB4 #define RECEIVER7_TIM_PORT TIM3 #define RECEIVER7_CH TIM_Channel_1 // TIM3_CH1 #define RECEIVER8_GPIO_PORT GPIOB #define RECEIVER8_PIN GPIO_Pin_5 // PB5 #define RECEIVER8_TIM_PORT TIM3 #define RECEIVER8_CH TIM_Channel_2 // TIM3_CH2 */ #define NUM_RECEIVER_INPUTS 6 //------------------------- // Servo outputs //------------------------- #define SERVO1TO4_PORT GPIOB #define SERVO1_PIN GPIO_Pin_6 #define SERVO2_PIN GPIO_Pin_7 #define SERVO3_PIN GPIO_Pin_8 #define SERVO4_PIN GPIO_Pin_9 #define SERVO5TO8_PORT GPIOC #define SERVO5_PIN GPIO_Pin_6 #define SERVO6_PIN GPIO_Pin_7 #define SERVO7_PIN GPIO_Pin_8 #define SERVO8_PIN GPIO_Pin_9 #define NUM_SERVO_OUTPUTS 8 //------------------------- // ADC //------------------------- #define ADC_GPIO_PORT GPIOC #define ADC_Z_PIN GPIO_Pin_0 // ADC123_IN10 #define ADC_A_PIN GPIO_Pin_1 // ADC123_IN11 #define ADC_B_PIN GPIO_Pin_2 // ADC123_IN12 #define ADC_Z_CHANNEL ADC_Channel_10 #define ADC_A_CHANNEL ADC_Channel_11 #define ADC_B_CHANNEL ADC_Channel_12 #define NUM_ADC_PINS 4 // 3 but actually 4 because of temp sensor #define ADC_IRQ_PRIO IRQ_PRIO_HIGH //------------------------- // USB //------------------------- #define USB_ACC_GPIO_PORT GPIOC #define USB_DETECT_PIN GPIO_Pin_4 #define USB_PULLUP_PIN GPIO_Pin_14 //------------------------- // Delay Timer //------------------------- #define PIOS_DELAY_TIMER TIM2 #define PIOS_DELAY_TIMER_RCC RCC_APB1Periph_TIM2 //------------------------- // Master Clock //------------------------- #define MASTER_CLOCK 72000000 #define PERIPHERAL_CLOCK (MASTER_CLOCK/2) //------------------------- // Interrupt Priorities //------------------------- #define IRQ_PRIO_LOW 12 // lower than RTOS #define IRQ_PRIO_MID 8 // higher than RTOS #define IRQ_PRIO_HIGH 5 // for SPI, ADC, I2C etc... #define IRQ_PRIO_HIGHEST 4 // for USART etc... #endif /* PIOS_BOARD_H */