/**
******************************************************************************
* @addtogroup OpenPilotSystem OpenPilot System
* @{
* @addtogroup OpenPilotCore OpenPilot Core
* @{
* @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 STM3210E_OP_H_
#define STM3210E_OP_H_
//------------------------
// Timers and Channels Used
//------------------------
/*
Timer | Channel 1 | Channel 2 | Channel 3 | Channel 4
------+-----------+-----------+-----------+----------
TIM1 | RC In 3 | RC In 6 | RC In 5 |
TIM2 | --------------- PIOS_DELAY -----------------
TIM3 | RC In 7 | RC In 8 | RC In 1 | RC In 2
TIM4 | Servo 1 | Servo 2 | Servo 3 | Servo 4
TIM5 | RC In 4 | | |
TIM6 | ----------- PIOS_PWM (Supervisor) ----------
TIM7 | | | |
TIM8 | Servo 5 | Servo 6 | Servo 7 | Servo 8
------+-----------+-----------+-----------+----------
*/
//------------------------
// DMA Channels Used
//------------------------
/* Channel 1 - ADC */
/* 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
//------------------------
// WATCHDOG_SETTINGS
//------------------------
#define PIOS_WATCHDOG_TIMEOUT 250
#define PIOS_WDG_REGISTER BKP_DR4
#define PIOS_WDG_ACTUATOR 0x0001
#define PIOS_WDG_STABILIZATION 0x0002
#define PIOS_WDG_AHRS 0x0004
#define PIOS_WDG_MANUAL 0x0008
//------------------------
// TELEMETRY
//------------------------
#define TELEM_QUEUE_SIZE 20
#define PIOS_TELEM_STACK_SIZE 624
//------------------------
// PIOS_LED
//------------------------
#define PIOS_LED_HEARTBEAT 0
#define PIOS_LED_ALARM 1
//------------------------
// PIOS_SPI
// See also pios_board.c
//------------------------
#define PIOS_SPI_MAX_DEVS 2
//------------------------
// 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)
#define PIOS_I2C_ESC_ADAPTER (pios_i2c_main_adapter_id)
#define PIOS_I2C_BMP085_ADAPTER (pios_i2c_main_adapter_id)
//------------------------
// PIOS_BMP085
//------------------------
#define PIOS_BMP085_HAS_GPIOS
#define PIOS_BMP085_EOC_GPIO_PORT GPIOC
#define PIOS_BMP085_EOC_GPIO_PIN GPIO_Pin_15
#define PIOS_BMP085_EOC_PORT_SOURCE GPIO_PortSourceGPIOC
#define PIOS_BMP085_EOC_PIN_SOURCE GPIO_PinSource15
#define PIOS_BMP085_EOC_CLK RCC_APB2Periph_GPIOC
#define PIOS_BMP085_EOC_EXTI_LINE EXTI_Line15
#define PIOS_BMP085_EOC_IRQn EXTI15_10_IRQn
#define PIOS_BMP085_EOC_PRIO PIOS_IRQ_PRIO_LOW
#define PIOS_BMP085_XCLR_GPIO_PORT GPIOC // Not actually connected on OP mainboard
#define PIOS_BMP085_XCLR_GPIO_PIN GPIO_Pin_14 // Not actually connected on OP mainboard
//#define PIOS_BMP085_OVERSAMPLING 2
#define PIOS_BMP085_OVERSAMPLING 3
//-------------------------
// PIOS_USART
//
// See also pios_board.c
//-------------------------
#define PIOS_USART_MAX_DEVS 3
//-------------------------
// PIOS_COM
//
// See also pios_board.c
//-------------------------
#define PIOS_COM_MAX_DEVS 4
extern uint32_t pios_com_telem_rf_id;
#define PIOS_COM_TELEM_RF (pios_com_telem_rf_id)
extern uint32_t pios_com_gps_id;
#define PIOS_COM_GPS (pios_com_gps_id)
extern uint32_t pios_com_telem_usb_id;
#define PIOS_COM_TELEM_USB (pios_com_telem_usb_id)
#ifdef PIOS_ENABLE_AUX_UART
extern uint32_t pios_com_aux_id;
#define PIOS_COM_AUX (pios_com_aux_id)
#define PIOS_COM_DEBUG PIOS_COM_AUX
#endif
//-------------------------
// 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_RCVR
// See also pios_board.c
//------------------------
#define PIOS_RCVR_MAX_DEVS 1
#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 DSM input
//-------------------------
#define PIOS_DSM_MAX_DEVS 1
#define PIOS_DSM_NUM_INPUTS 12
//-------------------------
// Receiver S.Bus input
//-------------------------
#define PIOS_SBUS_MAX_DEVS 0
#define PIOS_SBUS_NUM_INPUTS (16+2)
//-------------------------
// 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 3
//-------------------------
// ADC
// PIOS_ADC_PinGet(0) = Temperature Sensor (On-board)
// PIOS_ADC_PinGet(1) = Power Sensor (Current)
// PIOS_ADC_PinGet(2) = Power Sensor (Voltage)
// PIOS_ADC_PinGet(3) = On-board 5v Rail Sensor
// PIOS_ADC_PinGet(4) = Auxiliary Input 1
// PIOS_ADC_PinGet(5) = Auxiliary Input 2
// PIOS_ADC_PinGet(6) = Auxiliary Input 3
//-------------------------
//#define PIOS_ADC_OVERSAMPLING_RATE 1
#define PIOS_ADC_USE_TEMP_SENSOR 1
#define PIOS_ADC_TEMP_SENSOR_ADC ADC1
#define PIOS_ADC_TEMP_SENSOR_ADC_CHANNEL 1
#define PIOS_ADC_PIN1_GPIO_PORT GPIOA // PA1 (Power Sense - Voltage)
#define PIOS_ADC_PIN1_GPIO_PIN GPIO_Pin_1 // ADC123_IN1
#define PIOS_ADC_PIN1_GPIO_CHANNEL ADC_Channel_1
#define PIOS_ADC_PIN1_ADC ADC1
#define PIOS_ADC_PIN1_ADC_NUMBER 2
#define PIOS_ADC_PIN2_GPIO_PORT GPIOC // PC3 (Power Sense - Current)
#define PIOS_ADC_PIN2_GPIO_PIN GPIO_Pin_3 // ADC123_IN13
#define PIOS_ADC_PIN2_GPIO_CHANNEL ADC_Channel_13
#define PIOS_ADC_PIN2_ADC ADC2
#define PIOS_ADC_PIN2_ADC_NUMBER 1
#define PIOS_ADC_PIN3_GPIO_PORT GPIOC // PC5 (Onboard 5v Sensor) PC5
#define PIOS_ADC_PIN3_GPIO_PIN GPIO_Pin_5 // ADC12_IN15
#define PIOS_ADC_PIN3_GPIO_CHANNEL ADC_Channel_15
#define PIOS_ADC_PIN3_ADC ADC2
#define PIOS_ADC_PIN3_ADC_NUMBER 2
#define PIOS_ADC_PIN4_GPIO_PORT GPIOC // PC0 (AUX 1)
#define PIOS_ADC_PIN4_GPIO_PIN GPIO_Pin_0 // ADC123_IN10
#define PIOS_ADC_PIN4_GPIO_CHANNEL ADC_Channel_10
#define PIOS_ADC_PIN4_ADC ADC1
#define PIOS_ADC_PIN4_ADC_NUMBER 3
#define PIOS_ADC_PIN5_GPIO_PORT GPIOC // PC1 (AUX 2)
#define PIOS_ADC_PIN5_GPIO_PIN GPIO_Pin_1 // ADC123_IN11
#define PIOS_ADC_PIN5_GPIO_CHANNEL ADC_Channel_11
#define PIOS_ADC_PIN5_ADC ADC2
#define PIOS_ADC_PIN5_ADC_NUMBER 3
#define PIOS_ADC_PIN6_GPIO_PORT GPIOC // PC2 (AUX 3)
#define PIOS_ADC_PIN6_GPIO_PIN GPIO_Pin_2 // ADC123_IN12
#define PIOS_ADC_PIN6_GPIO_CHANNEL ADC_Channel_12
#define PIOS_ADC_PIN6_ADC ADC1
#define PIOS_ADC_PIN6_ADC_NUMBER 4
#define PIOS_ADC_NUM_PINS 6
#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 }
#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 }
#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 }
#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 }
#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 }
#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_CLOCK_FUNCTION RCC_APB2PeriphClockCmd(RCC_APB2Periph_ADC1 | RCC_APB2Periph_ADC2, ENABLE)
#define PIOS_ADC_ADCCLK RCC_PCLK2_Div8
/* 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 293.5 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
#define PIOS_ADC_MAX_OVERSAMPLING 10
#define PIOS_ADC_RATE (72.0e6 / 1 / 8 / 252 / (PIOS_ADC_NUM_ADC_CHANNELS >> PIOS_ADC_USE_ADC2))
//-------------------------
// GPIO
//-------------------------
#define PIOS_GPIO_1_PORT GPIOC
#define PIOS_GPIO_1_PIN GPIO_Pin_0
#define PIOS_GPIO_1_GPIO_CLK RCC_APB2Periph_GPIOC
#define PIOS_GPIO_2_PORT GPIOC
#define PIOS_GPIO_2_PIN GPIO_Pin_1
#define PIOS_GPIO_2_GPIO_CLK RCC_APB2Periph_GPIOC
#define PIOS_GPIO_3_PORT GPIOC
#define PIOS_GPIO_3_PIN GPIO_Pin_2
#define PIOS_GPIO_3_GPIO_CLK RCC_APB2Periph_GPIOC
#define PIOS_GPIO_4_PORT GPIOD
#define PIOS_GPIO_4_PIN GPIO_Pin_2
#define PIOS_GPIO_4_GPIO_CLK RCC_APB2Periph_GPIOD
#define PIOS_GPIO_PORTS { PIOS_GPIO_1_PORT, PIOS_GPIO_2_PORT, PIOS_GPIO_3_PORT, PIOS_GPIO_4_PORT }
#define PIOS_GPIO_PINS { PIOS_GPIO_1_PIN, PIOS_GPIO_2_PIN, PIOS_GPIO_3_PIN, PIOS_GPIO_4_PIN }
#define PIOS_GPIO_CLKS { PIOS_GPIO_1_GPIO_CLK, PIOS_GPIO_2_GPIO_CLK, PIOS_GPIO_3_GPIO_CLK, PIOS_GPIO_4_GPIO_CLK }
#define PIOS_GPIO_NUM 4
//-------------------------
// USB
//-------------------------
#define PIOS_USB_ENABLED 1
#define PIOS_USB_DETECT_GPIO_PORT GPIOC
#define PIOS_USB_MAX_DEVS 1
#define PIOS_USB_HID_MAX_DEVS 1
#define PIOS_USB_DETECT_GPIO_PIN GPIO_Pin_4
/**
* 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 /* STM3210E_OP_H_ */
/**
* @}
* @}
*/