/** ****************************************************************************** * @addtogroup OpenPilotSystem OpenPilot System * @{ * @addtogroup OpenPilotCore OpenPilot Core * @{ * @file pios_board.h * @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015. * 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 PIOS_BOARD_H #define PIOS_BOARD_H #include // ------------------------ // 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 #define PIOS_LED_LINK 2 #ifdef PIOS_RFM22B_DEBUG_ON_TELEM #define PIOS_LED_D1 2 #define PIOS_LED_D2 3 #define PIOS_LED_D3 4 #define PIOS_LED_D4 5 #define D1_LED_ON PIOS_LED_On(PIOS_LED_D1) #define D1_LED_OFF PIOS_LED_Off(PIOS_LED_D1) #define D1_LED_TOGGLE PIOS_LED_Toggle(PIOS_LED_D1) #define D2_LED_ON PIOS_LED_On(PIOS_LED_D2) #define D2_LED_OFF PIOS_LED_Off(PIOS_LED_D2) #define D2_LED_TOGGLE PIOS_LED_Toggle(PIOS_LED_D2) #define D3_LED_ON PIOS_LED_On(PIOS_LED_D3) #define D3_LED_OFF PIOS_LED_Off(PIOS_LED_D3) #define D3_LED_TOGGLE PIOS_LED_Toggle(PIOS_LED_D3) #define D4_LED_ON PIOS_LED_On(PIOS_LED_D4) #define D4_LED_OFF PIOS_LED_Off(PIOS_LED_D4) #define D4_LED_TOGGLE PIOS_LED_Toggle(PIOS_LED_D4) #endif /* PIOS_RFM22B_DEBUG_ON_TELEM */ // ------------------------ // PIOS_SPI // See also pios_board.c // ------------------------ #define PIOS_SPI_MAX_DEVS 3 extern uint32_t pios_spi_telem_flash_adapter_id; #define PIOS_SPI_RFM22B_ADAPTER (pios_spi_telem_flash_adapter_id) extern uint32_t pios_spi_gyro_adapter_id; #define PIOS_SPI_MPU9250_ADAPTER (pios_spi_gyro_adapter_id) // ------------------------ // 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_pressure_adapter_id; #define PIOS_I2C_MS5611_INTERNAL_ADAPTER (pios_i2c_pressure_adapter_id) #define PIOS_I2C_EXTERNAL_ADAPTER (pios_i2c_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) #define PIOS_I2C_MS4525DO_ADAPTER (PIOS_I2C_FLEXI_ADAPTER) // ------------------------- // PIOS_USART // // See also pios_board.c // ------------------------- #define PIOS_USART_MAX_DEVS 5 // Inverter for SBUS handling #define PIOS_USART_INVERTER_PORT USART6 #define PIOS_USART_INVERTER_GPIO GPIOC #define PIOS_USART_INVERTER_PIN GPIO_Pin_4 #define PIOS_USART_INVERTER_ENABLE Bit_SET #define PIOS_USART_INVERTER_DISABLE Bit_RESET // ------------------------- // PIOS_COM // // See also pios_board.c // ------------------------- #define PIOS_COM_MAX_DEVS 4 #ifdef PIOS_INCLUDE_WS2811 extern uint32_t pios_ws2811_id; #define PIOS_WS2811_DEVICE (pios_ws2811_id) #endif // ------------------------- // 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 800 // ------------------------- // 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 #define PIOS_RFM22B_RCVR_TIMEOUT_MS 200 #define PIOS_OPLINK_RCVR_TIMEOUT_MS 100 // ------------------------- // Receiver PPM input // ------------------------- #define PIOS_PPM_MAX_DEVS 1 #define PIOS_PPM_NUM_INPUTS 16 // ------------------------- // 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 HOTT input // ------------------------- #define PIOS_HOTT_MAX_DEVS 1 #define PIOS_HOTT_NUM_INPUTS 32 // ------------------------- // Receiver EX.Bus input // ------------------------- #define PIOS_EXBUS_MAX_DEVS 1 #define PIOS_EXBUS_NUM_INPUTS 16 // ------------------------- // Receiver Multiplex SRXL input // ------------------------- #define PIOS_SRXL_MAX_DEVS 1 #define PIOS_SRXL_NUM_INPUTS 16 // ------------------------- // Receiver DSM input // ------------------------- #define PIOS_DSM_MAX_DEVS 2 #define PIOS_DSM_NUM_INPUTS 12 // ------------------------- // Receiver FlySky IBus input // ------------------------- #define PIOS_IBUS_MAX_DEVS 1 #define PIOS_IBUS_NUM_INPUTS 10 // ------------------------- // 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_BANKS 6 // -------------------------- // 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(7) = VREF // PIOS_ADC_PinGet(8) = Temperature sensor // ------------------------- #define PIOS_DMA_PIN_CONFIG \ { \ { GPIOC, GPIO_Pin_2, ADC_Channel_12, false }, /* Analog port pin 3 */ \ { GPIOC, GPIO_Pin_3, ADC_Channel_13, false }, /* Analog port pin 4 */ \ { GPIOA, GPIO_Pin_4, ADC_Channel_4, false }, /* Analog port pin2 (DAC) */ \ { GPIOA, GPIO_Pin_3, ADC_Channel_3, false }, /* Servo pin 3 */ \ { GPIOA, GPIO_Pin_2, ADC_Channel_2, false }, /* Servo pin 4 */ \ { GPIOA, GPIO_Pin_1, ADC_Channel_1, false }, /* Servo pin 5 */ \ { GPIOA, GPIO_Pin_0, ADC_Channel_9, false }, /* Servo pin 6 */ \ { NULL, 0, ADC_Channel_Vrefint, false }, /* Voltage reference */ \ { NULL, 0, ADC_Channel_TempSensor, false }, /* Temperature sensor */ \ } /* 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 9 #define PIOS_ADC_MAX_OVERSAMPLING 2 #define PIOS_ADC_USE_ADC2 0 #define PIOS_ADC_USE_TEMP_SENSOR #define PIOS_ADC_TEMPERATURE_PIN 8 // ------------------------- // 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 /* PIOS_BOARD_H */ /** * @} * @} */