/**
******************************************************************************
* @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 SIM_POSIX_H_
#define SIM_POSIX_H_
/**
* glue macros for file IO
**/
#define FILEINFO FILE*
#define PIOS_FOPEN_READ(filename,file) (file=fopen((char*)filename,"r"))==NULL
#define PIOS_FOPEN_WRITE(filename,file) (file=fopen((char*)filename,"w"))==NULL
#define PIOS_FREAD(file,bufferadr,length,resultadr) (*resultadr=fread((uint8_t*)bufferadr,1,length,*file)) != length
#define PIOS_FWRITE(file,bufferadr,length,resultadr) *resultadr=fwrite((uint8_t*)bufferadr,1,length,*file)
#define PIOS_FCLOSE(file) fclose(file)
#define PIOS_FUNLINK(file) unlink((char*)filename)
//------------------------
// 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_NUM 3
#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_adapter_id;
//#define PIOS_I2C_MAIN_ADAPTER (pios_i2c_mag_adapter_id)
//-------------------------
// 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 25
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
//------------------------
// TELEMETRY
//------------------------
#define TELEM_QUEUE_SIZE 20
#define PIOS_TELEM_STACK_SIZE 624
#define PIOS_COM_BUFFER_SIZE 1024
#define PIOS_UDP_RX_BUFFER_SIZE PIOS_COM_BUFFER_SIZE
#define PIOS_UDP_TX_BUFFER_SIZE PIOS_COM_BUFFER_SIZE
//-------------------------
// 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
//-------------------------
// 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 */
#define PIOS_SERVO_NUM_OUTPUTS 8
#define PIOS_SERVO_NUM_TIMERS PIOS_SERVO_NUM_OUTPUTS
//--------------------------
// Timer controller settings
//--------------------------
//#define PIOS_TIM_MAX_DEVS 6
//-------------------------
// ADC
// None.
//-------------------------
//-------------------------
// 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 /* SIM_POSIX_H_ */
/**
* @}
* @}
*/