/** ****************************************************************************** * * @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 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_AUTOTUNE 0x0010 #define PIOS_WDG_SENSORS 0x0020 // ------------------------ // TELEMETRY // ------------------------ #define TELEM_QUEUE_SIZE 10 // ------------------------ // PIOS_LED // ------------------------ #define PIOS_LED_HEARTBEAT 0 #define PIOS_LED_ALARM 1 #define PIOS_LED_BUZZER 2 // ------------------------- // 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 0 // ------------------------- // SPI // // See also pios_board.c // ------------------------- #define PIOS_SPI_MAX_DEVS 2 extern uint32_t pios_spi_mpu6000_id; #define PIOS_SPI_MPU6000_ADAPTER (pios_spi_mpu6000_id) // ------------------------- // PIOS_USART // ------------------------- #define PIOS_USART_MAX_DEVS 3 // ------------------------- // PIOS_COM // // See also pios_board.c // ------------------------- #define PIOS_COM_MAX_DEVS 3 #ifdef PIOS_INCLUDE_WS2811 extern uint32_t pios_ws2811_id; #define PIOS_WS2811_DEVICE (pios_ws2811_id) #endif // ------------------------- // ADC // PIOS_ADC_PinGet(0) = Current sensor // PIOS_ADC_PinGet(1) = Battery voltage // ------------------------- #define PIOS_DMA_PIN_CONFIG \ { \ { GPIOB, GPIO_Pin_2, ADC_Channel_12, false }, /* ADC_2 / Current */ \ { GPIOA, GPIO_Pin_5, ADC_Channel_2, false }, /* ADC_1 / Voltage */ \ } /* 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 2 #define PIOS_ADC_MAX_OVERSAMPLING 32 #define PIOS_ADC_USE_ADC2 0 // #define PIOS_ADC_USE_TEMP_SENSOR // #define PIOS_ADC_TEMPERATURE_PIN 4 // ------------------------ // 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_MAX_DEVS 1 #endif /* PIOS_BOARD_H */