/** ****************************************************************************** * @addtogroup OpenPilotSystem OpenPilot System * @{ * @addtogroup OpenPilotCore OpenPilot Core * @{ * @file pios_board.h * @author David "Buzz" Carlson (buzz@chebuzz.com) * The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011. * @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_INS_H_ #define STM3210E_INS_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 BOOTLOADER_VERSION 0 #define BOARD_TYPE 0x05 // INS board #define BOARD_REVISION 0x01 // Beta version #define MEM_SIZE 524288 //512K #define SIZE_OF_DESCRIPTION (uint8_t) 100 #define START_OF_USER_CODE (uint32_t)0x08002000//REMEMBER SET ALSO IN link_STM3210E_INS_memory.ld #define SIZE_OF_CODE (uint32_t) (MEM_SIZE-(START_OF_USER_CODE-0x08000000)-SIZE_OF_DESCRIPTION) #ifdef STM32F10X_HD #define HW_TYPE 0 //0=high_density 1=medium_density; #elif STM32F10X_MD #define HW_TYPE 1 //0=high_density 1=medium_density; #endif #define BOARD_READABLE TRUE #define BOARD_WRITABLA TRUE #define MAX_DEL_RETRYS 3 #define EKF_RATE 75 //------------------------ // PIOS_LED //------------------------ #define PIOS_LED_LED1_GPIO_PORT GPIOA #define PIOS_LED_LED1_GPIO_PIN GPIO_Pin_3 #define PIOS_LED_LED1_GPIO_CLK RCC_APB2Periph_GPIOA #define PIOS_LED_LED2_GPIO_PORT GPIOA #define PIOS_LED_LED2_GPIO_PIN GPIO_Pin_2 #define PIOS_LED_LED2_GPIO_CLK RCC_APB2Periph_GPIOA #define PIOS_LED_NUM 2 #define PIOS_LED_PORTS { PIOS_LED_LED1_GPIO_PORT, PIOS_LED_LED2_GPIO_PORT } #define PIOS_LED_PINS { PIOS_LED_LED1_GPIO_PIN, PIOS_LED_LED2_GPIO_PIN } #define PIOS_LED_CLKS { PIOS_LED_LED1_GPIO_CLK, PIOS_LED_LED2_GPIO_CLK } //------------------------ // 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 3 extern uint32_t pios_i2c_pres_mag_adapter_id; #define PIOS_I2C_MAIN_ADAPTER (pios_i2c_pres_mag_adapter_id) extern uint32_t pios_i2c_gyro_adapter_id; #define PIOS_I2C_GYRO_ADAPTER (pios_i2c_gyro_adapter_id) //------------------------ // PIOS_BMP085 //------------------------ #define PIOS_BMP085_EOC_GPIO_PORT GPIOC #define PIOS_BMP085_EOC_GPIO_PIN GPIO_Pin_2 #define PIOS_BMP085_EOC_PORT_SOURCE GPIO_PortSourceGPIOC #define PIOS_BMP085_EOC_PIN_SOURCE GPIO_PinSource2 #define PIOS_BMP085_EOC_CLK RCC_APB2Periph_GPIOC #define PIOS_BMP085_EOC_EXTI_LINE EXTI_Line2 #define PIOS_BMP085_EOC_IRQn EXTI15_10_IRQn #define PIOS_BMP085_EOC_PRIO PIOS_IRQ_PRIO_LOW #define PIOS_BMP085_XCLR_GPIO_PORT GPIOC #define PIOS_BMP085_XCLR_GPIO_PIN GPIO_Pin_1 #define PIOS_BMP085_OVERSAMPLING 3 //------------------------- // PIOS_USART // // See also pios_board.c //------------------------- #define PIOS_USART_MAX_DEVS 2 #define PIOS_USART_RX_BUFFER_SIZE 256 #define PIOS_USART_TX_BUFFER_SIZE 256 //------------------------- // PIOS_COM // // See also pios_board.c //------------------------- #define PIOS_COM_MAX_DEVS 2 #define PIOS_COM_GPS_BAUDRATE 57600 extern uint32_t pios_com_gps_id; #define PIOS_COM_GPS (pios_com_gps_id) extern uint32_t pios_com_aux_id; #define PIOS_COM_AUX (pios_com_aux_id) #define PIOS_COM_DEBUG PIOS_COM_AUX //------------------------- // Delay Timer //------------------------- #define PIOS_DELAY_TIMER TIM2 #define PIOS_DELAY_TIMER_RCC_FUNC RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE) //------------------------- // System Settings //------------------------- #define PIOS_MASTER_CLOCK 72000000 #define PIOS_PERIPHERAL_CLOCK (PIOS_MASTER_CLOCK / 2) #if defined(USE_BOOTLOADER) #define PIOS_NVIC_VECTTAB_FLASH (START_OF_USER_CODE) #else #define PIOS_NVIC_VECTTAB_FLASH ((uint32_t)0x08000000) #endif //------------------------- // 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... //------------------------- // ADC // None. //------------------------- //------------------------- // GPIO // Not used, but pios_gpio.c expects something //------------------------- #define PIOS_GPIO_1_PORT GPIOA #define PIOS_GPIO_1_PIN GPIO_Pin_1 #define PIOS_GPIO_1_GPIO_CLK RCC_APB2Periph_GPIOA #define PIOS_GPIO_PORTS { PIOS_GPIO_1_PORT } #define PIOS_GPIO_PINS { PIOS_GPIO_1_PIN } #define PIOS_GPIO_CLKS { PIOS_GPIO_1_GPIO_CLK } #define PIOS_GPIO_NUM 1 //------------------------ // BMA180 //------------------------ #define PIOS_BMA_ENABLE PIOS_SPI_RC_PinSet(PIOS_SPI_ACCEL,0) #define PIOS_BMA_DISABLE PIOS_SPI_RC_PinSet(PIOS_SPI_ACCEL,1) //------------------------ // PIOS_HMC5883 //------------------------ #define PIOS_HMC5883_DRDY_GPIO_PORT GPIOB #define PIOS_HMC5883_DRDY_GPIO_PIN GPIO_Pin_8 #define PIOS_HMC5883_DRDY_PORT_SOURCE GPIO_PortSourceGPIOB #define PIOS_HMC5883_DRDY_PIN_SOURCE GPIO_PinSource8 #define PIOS_HMC5883_DRDY_CLK RCC_APB2Periph_GPIOB #define PIOS_HMC5883_DRDY_EXTI_LINE EXTI_Line8 #define PIOS_HMC5883_DRDY_IRQn EXTI9_5_IRQn #define PIOS_HMC5883_DRDY_PRIO PIOS_IRQ_PRIO_LOW //------------------------ // PIOS_IMU3000 //------------------------ #define PIOS_IMU3000_INT_GPIO_PORT GPIOB #define PIOS_IMU3000_INT_GPIO_PIN GPIO_Pin_1 #define PIOS_IMU3000_INT_PORT_SOURCE GPIO_PortSourceGPIOB #define PIOS_IMU3000_INT_PIN_SOURCE GPIO_PinSource1 #define PIOS_IMU3000_INT_CLK RCC_APB2Periph_GPIOB #define PIOS_IMU3000_INT_EXTI_LINE EXTI_Line1 #define PIOS_IMU3000_INT_IRQn EXTI1_IRQn #define PIOS_IMU3000_INT_PRIO PIOS_IRQ_PRIO_HIGH #endif /* STM3210E_INS_H_ */ /** * @} * @} */