/** ****************************************************************************** * * @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 #include // ***************************************************************** // Timers and Channels Used /* Timer | Channel 1 | Channel 2 | Channel 3 | Channel 4 ------+------------+------------+------------+------------ TIM1 | DELAY | TIM2 | | PPM Output | PPM Input | TIM3 | TIMER INTERRUPT | TIM4 | STOPWATCH | ------+------------+------------+------------+------------ */ //------------------------ // 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 //------------------------- // 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 //------------------------ // TELEMETRY //------------------------ #define TELEM_QUEUE_SIZE 20 #define PIOS_TELEM_STACK_SIZE 624 // ***************************************************************** // 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... //------------------------ // WATCHDOG_SETTINGS //------------------------ #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_OSDGEN 0x0010 // ***************************************************************** // PIOS_LED #define PIOS_LED_HEARTBEAT 0 #define PIOS_LED_ALARM 1 // ***************************************************************** // Delay Timer //#define PIOS_DELAY_TIMER TIM2 //#define PIOS_DELAY_TIMER_RCC_FUNC RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE) #define PIOS_DELAY_TIMER TIM1 #define PIOS_DELAY_TIMER_RCC_FUNC RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE) // ***************************************************************** // Timer interrupt /*#define TIMER_INT_TIMER TIM3 #define TIMER_INT_FUNC TIM3_IRQHandler #define TIMER_INT_PRIORITY 2 // ***************************************************************** // Stop watch timer #define STOPWATCH_TIMER TIM4*/ //------------------------ // PIOS_SPI // See also pios_board.c //------------------------ #define PIOS_SPI_MAX_DEVS 1 extern uint32_t pios_spi_port_id; #define PIOS_SPI_PORT (pios_spi_port_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 5 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; #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_DEBUG (PIOS_COM_AUX) #define PIOS_COM_OSD (pios_com_aux_id) //extern uint32_t pios_com_serial_id; //#define PIOS_COM_SERIAL (pios_com_serial_id) //#define PIOS_COM_DEBUG PIOS_COM_SERIAL // uncomment this to send debug info out the serial port //extern uint32_t pios_com_gps_id; //#define PIOS_COM_GPS (pios_com_gps_id) #if defined(PIOS_INCLUDE_USB_HID) extern uint32_t pios_com_telem_usb_id; #define PIOS_COM_TELEM_USB (pios_com_telem_usb_id) #endif // ***************************************************************** // ADC //------------------------- // ADC // PIOS_ADC_PinGet(0) = Current // PIOS_ADC_PinGet(1) = Voltage // PIOS_ADC_PinGet(2) = Flight // PIOS_ADC_PinGet(3) = Temperature sensor // PIOS_ADC_PinGet(4) = Video // PIOS_ADC_PinGet(5) = RSSI // PIOS_ADC_PinGet(6) = VREF //------------------------- #define PIOS_DMA_PIN_CONFIG \ { \ {GPIOC, GPIO_Pin_0, ADC_Channel_10}, \ {GPIOC, GPIO_Pin_1, ADC_Channel_11}, \ {GPIOC, GPIO_Pin_2, ADC_Channel_12}, \ {NULL, 0, ADC_Channel_TempSensor}, /* Temperature sensor */\ {GPIOC, GPIO_Pin_3, ADC_Channel_13}, \ {GPIOA, GPIO_Pin_7, ADC_Channel_7}, \ {NULL, 0, ADC_Channel_Vrefint} /* Voltage reference */\ } /* 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 7 #define PIOS_ADC_MAX_OVERSAMPLING 10 #define PIOS_ADC_USE_ADC2 0 #define PIOS_ADC_USE_TEMP_SENSOR 1 // ***************************************************************** // USB #if defined(PIOS_INCLUDE_USB_HID) #define PIOS_USB_ENABLED 1 #define PIOS_USB_DETECT_GPIO_PORT GPIO_IN_2_PORT #define PIOS_USB_DETECT_GPIO_PIN GPIO_IN_2_PIN #define PIOS_USB_DETECT_EXTI_LINE EXTI_Line4 #define PIOS_IRQ_USB_PRIORITY 8 #define PIOS_USB_RX_BUFFER_SIZE 512 #define PIOS_USB_TX_BUFFER_SIZE 512 #endif // ***************************************************************** //-------------------------- // Timer controller settings //-------------------------- #define PIOS_TIM_MAX_DEVS 6 //------------------------- // 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 //------------------------ // PIOS_I2C // See also pios_board.c //------------------------ #define PIOS_I2C_MAX_DEVS 1 extern uint32_t pios_i2c_flexiport_adapter_id; #define PIOS_I2C_MAIN_ADAPTER (pios_i2c_flexiport_adapter_id) #define PIOS_I2C_ESC_ADAPTER (pios_i2c_flexiport_adapter_id) #define PIOS_I2C_BMP085_ADAPTER (pios_i2c_flexiport_adapter_id) //------------------------ // PIOS_BMP085 //------------------------ #define PIOS_BMP085_OVERSAMPLING 3 /** * 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 */