/**
******************************************************************************
*
* @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 PIOS_BOARD_H
#define PIOS_BOARD_H
#include <stdbool.h>
// *****************************************************************
// Timers and Channels Used
/*
Timer | Channel 1 | Channel 2 | Channel 3 | Channel 4
------+------------+------------+------------+------------
TIM1 | DELAY |
TIM2 | | PPM Output | PPM Input |
TIM3 | TIMER INTERRUPT |
TIM4 | STOPWATCH |
------+------------+------------+------------+------------
*/
// ------------------------
// 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
// -------------------------
// 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
// ------------------------
// TELEMETRY
// ------------------------
#define TELEM_QUEUE_SIZE 20
#define PIOS_TELEM_STACK_SIZE 800
// *****************************************************************
// 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...
// ------------------------
// 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_OSDGEN 0x0010
// *****************************************************************
// PIOS_LED
#define PIOS_LED_HEARTBEAT 0
#define PIOS_LED_ALARM 1
// *****************************************************************
// Delay Timer
// #define PIOS_DELAY_TIMER TIM2
// #define PIOS_DELAY_TIMER_RCC_FUNC RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE)
#define PIOS_DELAY_TIMER TIM1
#define PIOS_DELAY_TIMER_RCC_FUNC RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE)
// *****************************************************************
// Timer interrupt
/*#define TIMER_INT_TIMER TIM3
#define TIMER_INT_FUNC TIM3_IRQHandler
#define TIMER_INT_PRIORITY 2
// *****************************************************************
// Stop watch timer
#define STOPWATCH_TIMER TIM4*/
// ------------------------
// PIOS_SPI
// See also pios_board.c
// ------------------------
#define PIOS_SPI_MAX_DEVS 1
extern uint32_t pios_spi_port_id;
#define PIOS_SPI_PORT (pios_spi_port_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 5
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;
#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_DEBUG (PIOS_COM_AUX)
#define PIOS_COM_OSD (pios_com_aux_id)
// extern uint32_t pios_com_serial_id;
// #define PIOS_COM_SERIAL (pios_com_serial_id)
// #define PIOS_COM_DEBUG PIOS_COM_SERIAL // uncomment this to send debug info out the serial port
// extern uint32_t pios_com_gps_id;
// #define PIOS_COM_GPS (pios_com_gps_id)
#if defined(PIOS_INCLUDE_USB_HID)
extern uint32_t pios_com_telem_usb_id;
#define PIOS_COM_TELEM_USB (pios_com_telem_usb_id)
#endif
// *****************************************************************
// ADC
// -------------------------
// ADC
// PIOS_ADC_PinGet(0) = Current
// PIOS_ADC_PinGet(1) = Voltage
// PIOS_ADC_PinGet(2) = Flight
// PIOS_ADC_PinGet(3) = Temperature sensor
// PIOS_ADC_PinGet(4) = Video
// PIOS_ADC_PinGet(5) = RSSI
// PIOS_ADC_PinGet(6) = VREF
// -------------------------
#define PIOS_DMA_PIN_CONFIG \
{ \
{ GPIOC, GPIO_Pin_0, ADC_Channel_10, true }, \
{ GPIOC, GPIO_Pin_1, ADC_Channel_11, true }, \
{ GPIOC, GPIO_Pin_2, ADC_Channel_12, true }, \
{ NULL, 0, ADC_Channel_TempSensor, true }, /* Temperature sensor */ \
{ GPIOC, GPIO_Pin_3, ADC_Channel_13, true }, \
{ GPIOA, GPIO_Pin_7, ADC_Channel_7, true }, \
{ NULL, 0, ADC_Channel_Vrefint, true } /* Voltage reference */ \
}
/* 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 7
#define PIOS_ADC_MAX_OVERSAMPLING 10
#define PIOS_ADC_USE_ADC2 0
#define PIOS_ADC_USE_TEMP_SENSOR
#define PIOS_ADC_TEMPERATURE_PIN 6 /* V */
// *****************************************************************
// USB
#if defined(PIOS_INCLUDE_USB_HID)
#define PIOS_USB_ENABLED 1
#define PIOS_USB_DETECT_GPIO_PORT GPIO_IN_2_PORT
#define PIOS_USB_DETECT_GPIO_PIN GPIO_IN_2_PIN
#define PIOS_USB_DETECT_EXTI_LINE EXTI_Line4
#define PIOS_IRQ_USB_PRIORITY 8
#define PIOS_USB_RX_BUFFER_SIZE 512
#define PIOS_USB_TX_BUFFER_SIZE 512
#endif
// *****************************************************************
// --------------------------
// Timer controller settings
// --------------------------
#define PIOS_TIM_MAX_DEVS 6
#define PIOS_SERVO_BANKS 6
// -------------------------
// 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
// ------------------------
// PIOS_I2C
// See also pios_board.c
// ------------------------
#define PIOS_I2C_MAX_DEVS 1
extern uint32_t pios_i2c_flexiport_adapter_id;
#define PIOS_I2C_MAIN_ADAPTER (pios_i2c_flexiport_adapter_id)
#define PIOS_I2C_ESC_ADAPTER (pios_i2c_flexiport_adapter_id)
#define PIOS_I2C_BMP085_ADAPTER (pios_i2c_flexiport_adapter_id)
// ------------------------
// PIOS_BMP085
// ------------------------
#define PIOS_BMP085_OVERSAMPLING 3
/**
* glue macros for file IO
* STM32 uses DOSFS for file IO
*/
#define PIOS_FOPEN_READ(filename, file) DFS_OpenFile(&PIOS_SDCARD_VolInfo, (uint8_t *)filename, DFS_READ, PIOS_SDCARD_Sector, &file) != DFS_OK
#define PIOS_FOPEN_WRITE(filename, file) DFS_OpenFile(&PIOS_SDCARD_VolInfo, (uint8_t *)filename, DFS_WRITE, PIOS_SDCARD_Sector, &file) != DFS_OK
#define PIOS_FREAD(file, bufferadr, length, resultadr) DFS_ReadFile(file, PIOS_SDCARD_Sector, (uint8_t *)bufferadr, resultadr, length) != DFS_OK
#define PIOS_FWRITE(file, bufferadr, length, resultadr) DFS_WriteFile(file, PIOS_SDCARD_Sector, (uint8_t *)bufferadr, resultadr, length)
#define PIOS_FCLOSE(file) DFS_Close(&file)
#define PIOS_FUNLINK(filename) DFS_UnlinkFile(&PIOS_SDCARD_VolInfo, (uint8_t *)filename, PIOS_SDCARD_Sector)
#endif /* PIOS_BOARD_H */