/** ****************************************************************************** * @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 PIOS_BOARD_H #define PIOS_BOARD_H // ------------------------ // 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 /* PIOS_BOARD_H */ /** * @} * @} */