/** ****************************************************************************** * * @file pios_board.h * @author 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 STM32103CB_AHRS_H_ #define STM32103CB_AHRS_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 FUNC_ID 2 //#define HW_VERSION 69 #define BOOTLOADER_VERSION 0 #define BOARD_TYPE 0x04 #define BOARD_REVISION 0x01 //#define HW_VERSION (BOARD_TYPE << 8) | BOARD_REVISION #define MEM_SIZE 0x20000 //128K #define SIZE_OF_DESCRIPTION 100 #define START_OF_USER_CODE (uint32_t)0x08003000 #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 //------------------------ // 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 //------------------------ // TELEMETRY //------------------------ #define TELEM_QUEUE_SIZE 20 //------------------------ // PIOS_LED //------------------------ #define PIOS_LED_LED1_GPIO_PORT GPIOA #define PIOS_LED_LED1_GPIO_PIN GPIO_Pin_6 #define PIOS_LED_LED1_GPIO_CLK RCC_APB2Periph_GPIOA #define PIOS_LED_NUM 1 #define PIOS_LED_PORTS { PIOS_LED_LED1_GPIO_PORT } #define PIOS_LED_PINS { PIOS_LED_LED1_GPIO_PIN } #define PIOS_LED_CLKS { PIOS_LED_LED1_GPIO_CLK } //------------------------- // Delay Timer //------------------------- #define PIOS_DELAY_TIMER TIM3 #define PIOS_DELAY_TIMER_RCC_FUNC RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, 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... //------------------------ // PIOS_I2C // See also pios_board.c //------------------------ #define PIOS_I2C_MAIN_ADAPTER 0 //------------------------- // SPI // // See also pios_board.c //------------------------- #define PIOS_SPI_FLASH 0 #define PIOS_SPI_ACCEL 0 //------------------------- // PIOS_USART //------------------------- #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 4 #define PIOS_COM_TELEM_BAUDRATE 57600 extern uint32_t pios_com_telem_rf_id; #define PIOS_COM_TELEM_RF (pios_com_telem_rf_id) #define PIOS_COM_DEBUG PIOS_COM_TELEM_RF #if defined(PIOS_INCLUDE_GPS) #define PIOS_COM_GPS_BAUDRATE 57600 extern uint32_t pios_com_gps_id; #define PIOS_COM_GPS (pios_com_gps_id) #endif /* PIOS_INCLUDE_GPS */ extern uint32_t pios_com_telem_usb_id; #define PIOS_COM_TELEM_USB (pios_com_telem_usb_id) #ifdef PIOS_INCLUDE_SPEKTRUM #define PIOS_COM_SPEKTRUM_BAUDRATE 115200 extern uint32_t pios_com_spektrum_id; #define PIOS_COM_SPEKTRUM (pios_com_spektrum_id) #endif //------------------------- // 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 (72.0e6 / 1.0 / 8.0 / 252.0 / (PIOS_ADC_NUM_CHANNELS >> PIOS_ADC_USE_ADC2)) #define PIOS_ADC_MAX_OVERSAMPLING 36 //------------------------- // Receiver PWM inputs //------------------------- #define PIOS_PWM_MAX_INPUTS 6 //------------------------- // 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 */ //------------------------- // GPIO //------------------------- #define PIOS_GPIO_1_PORT GPIOA #define PIOS_GPIO_1_PIN GPIO_Pin_7 #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 #define PIOS_FLASH_CS_PIN 0 #define PIOS_FLASH_ENABLE PIOS_GPIO_On(0) #define PIOS_FLASH_DISABLE PIOS_GPIO_Off(0) #define PIOS_ADXL_ENABLE PIOS_SPI_RC_PinSet(PIOS_SPI_ACCEL,0) #define PIOS_ADXL_DISABLE PIOS_SPI_RC_PinSet(PIOS_SPI_ACCEL,1) //------------------------- // USB //------------------------- #define PIOS_USB_ENABLED 1 #define PIOS_USB_DETECT_GPIO_PORT GPIOC #define PIOS_USB_DETECT_GPIO_PIN GPIO_Pin_15 #define PIOS_USB_DETECT_EXTI_LINE EXTI_Line15 #define PIOS_IRQ_USB_PRIORITY PIOS_IRQ_PRIO_MID #define PIOS_USB_RX_BUFFER_SIZE 128 #define PIOS_USB_TX_BUFFER_SIZE 128 #endif /* STM32103CB_AHRS_H_ */