/** ****************************************************************************** * * @file pios_board.h * @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015. * 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 // ------------------------ // Timers and Channels Used // ------------------------ /* Timer | Channel 1 | Channel 2 | Channel 3 | Channel 4 ------+-----------+-----------+-----------+---------- TIM1 | Servo 4 | | | TIM2 | RC In 5 | RC In 6 | Servo 6 | TIM3 | Servo 5 | RC In 2 | RC In 3 | RC In 4 TIM4 | RC In 1 | Servo 3 | Servo 2 | Servo 1 ------+-----------+-----------+-----------+---------- */ // ------------------------ // 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 // ------------------------ // 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_ATTITUDE 0x0004 #define PIOS_WDG_MANUAL 0x0008 #define PIOS_WDG_AUTOTUNE 0x0010 // ------------------------ // TELEMETRY // ------------------------ #define TELEM_QUEUE_SIZE 10 // ------------------------ // PIOS_LED // ------------------------ #define PIOS_LED_HEARTBEAT 0 // ------------------------- // System Settings // ------------------------- #define PIOS_MASTER_CLOCK 72000000 // ------------------------- // 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_I2C // See also pios_board.c // ------------------------ #define PIOS_I2C_MAX_DEVS 1 extern uint32_t pios_i2c_flexi_adapter_id; #define PIOS_I2C_MAIN_ADAPTER (pios_i2c_flexi_adapter_id) #define PIOS_I2C_ESC_ADAPTER (pios_i2c_flexi_adapter_id) #define PIOS_I2C_BMP085_ADAPTER (pios_i2c_flexi_adapter_id) // ------------------------ // PIOS_BMP085 // ------------------------ #define PIOS_BMP085_OVERSAMPLING 3 // ------------------------- // SPI // // See also pios_board.c // ------------------------- #define PIOS_SPI_MAX_DEVS 2 extern uint32_t pios_spi_gyro_adapter_id; #define PIOS_SPI_MPU6000_ADAPTER (pios_spi_gyro_adapter_id) extern uint32_t pios_spi_flash_accel_adapter_id; #define PIOS_SPI_ADXL345_ADAPTER (pios_spi_flash_accel_adapter_id) // ------------------------- // PIOS_USART // ------------------------- #define PIOS_USART_MAX_DEVS 2 // Inverter for SBUS handling #define PIOS_USART_INVERTER_PORT USART1 #define PIOS_USART_INVERTER_GPIO GPIOB #define PIOS_USART_INVERTER_PIN GPIO_Pin_2 #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 3 #define PIOS_COM_TELEM_RF_RX_BUF_LEN 32 #define PIOS_COM_TELEM_RF_TX_BUF_LEN 12 #define PIOS_COM_GPS_RX_BUF_LEN 32 #define PIOS_COM_TELEM_USB_RX_BUF_LEN 65 #define PIOS_COM_TELEM_USB_TX_BUF_LEN 65 #define PIOS_COM_BRIDGE_RX_BUF_LEN 65 #define PIOS_COM_BRIDGE_TX_BUF_LEN 12 #define PIOS_COM_HKOSD_TX_BUF_LEN 22 #define PIOS_COM_MSP_TX_BUF_LEN 128 #define PIOS_COM_MSP_RX_BUF_LEN 64 #define PIOS_COM_MAVLINK_TX_BUF_LEN 128 #define PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN 40 // ------------------------- // ADC // PIOS_ADC_PinGet(0) = Gyro Z // PIOS_ADC_PinGet(1) = Gyro Y // PIOS_ADC_PinGet(2) = Gyro X // ------------------------- // #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 // PA4 (Gyro X) #define PIOS_ADC_PIN1_GPIO_PIN GPIO_Pin_4 // ADC12_IN4 #define PIOS_ADC_PIN1_GPIO_CHANNEL ADC_Channel_4 #define PIOS_ADC_PIN1_ADC ADC2 #define PIOS_ADC_PIN1_ADC_NUMBER 1 #define PIOS_ADC_PIN2_GPIO_PORT GPIOA // PA5 (Gyro Y) #define PIOS_ADC_PIN2_GPIO_PIN GPIO_Pin_5 // ADC123_IN5 #define PIOS_ADC_PIN2_GPIO_CHANNEL ADC_Channel_5 #define PIOS_ADC_PIN2_ADC ADC1 #define PIOS_ADC_PIN2_ADC_NUMBER 2 #define PIOS_ADC_PIN3_GPIO_PORT GPIOA // PA3 (Gyro Z) #define PIOS_ADC_PIN3_GPIO_PIN GPIO_Pin_3 // ADC12_IN3 #define PIOS_ADC_PIN3_GPIO_CHANNEL ADC_Channel_3 #define PIOS_ADC_PIN3_ADC ADC2 #define PIOS_ADC_PIN3_ADC_NUMBER 2 #define PIOS_ADC_NUM_PINS 3 #define PIOS_ADC_PORTS { PIOS_ADC_PIN1_GPIO_PORT, PIOS_ADC_PIN2_GPIO_PORT, PIOS_ADC_PIN3_GPIO_PORT } #define PIOS_ADC_PINS { PIOS_ADC_PIN1_GPIO_PIN, PIOS_ADC_PIN2_GPIO_PIN, PIOS_ADC_PIN3_GPIO_PIN } #define PIOS_ADC_CHANNELS { PIOS_ADC_PIN1_GPIO_CHANNEL, PIOS_ADC_PIN2_GPIO_CHANNEL, PIOS_ADC_PIN3_GPIO_CHANNEL } #define PIOS_ADC_MAPPING { PIOS_ADC_PIN1_ADC, PIOS_ADC_PIN2_ADC, PIOS_ADC_PIN3_ADC } #define PIOS_ADC_CHANNEL_MAPPING { PIOS_ADC_PIN1_ADC_NUMBER, PIOS_ADC_PIN2_ADC_NUMBER, PIOS_ADC_PIN3_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 239.5 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 // Currently analog acquistion hard coded at 480 Hz // PCKL2 = HCLK / 16 // ADCCLK = PCLK2 / 2 #define PIOS_ADC_RATE (72.0e6f / 1.0f / 8.0f / 252.0f / (PIOS_ADC_NUM_CHANNELS >> PIOS_ADC_USE_ADC2)) #define PIOS_ADC_MAX_OVERSAMPLING 48 #define PIOS_ADC_TEMPERATURE_PIN 0 // ------------------------ // 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 // ------------------------- // 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 6 // ------------------------- // Receiver DSM input // ------------------------- #define PIOS_DSM_MAX_DEVS 2 #define PIOS_DSM_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 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 3 // ------------------------- // GPIO // ------------------------- #define PIOS_GPIO_PORTS {} #define PIOS_GPIO_PINS {} #define PIOS_GPIO_CLKS {} #define PIOS_GPIO_NUM 0 // ------------------------- // USB // ------------------------- #define PIOS_USB_HID_MAX_DEVS 1 #define PIOS_USB_ENABLED 1 #define PIOS_USB_DETECT_GPIO_PORT GPIOC #define PIOS_USB_MAX_DEVS 1 #define PIOS_USB_DETECT_GPIO_PIN GPIO_Pin_15 #endif /* PIOS_BOARD_H */