/** ****************************************************************************** * * @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 // ***************************************************************** // Timers and Channels Used /* Timer | Channel 1 | Channel 2 | Channel 3 | Channel 4 ------+-----------+-----------+-----------+---------- TIM1 | | | | TIM2 | --------------- DELAY ---------------------- TIM3 | --------------- Timer Interrupt ------------ TIM4 | --------------- STOPWATCH ------------------ TIM5 | | | | TIM6 | | | | TIM7 | | | | TIM8 | | | | ------+-----------+-----------+-----------+---------- */ //------------------------ // 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 3 #define HW_VERSION 21 #define BOOTLOADER_VERSION 0 #define MEM_SIZE ((uint32_t)(*((volatile uint16_t *)(0x1FFFF7E0))) * 1024 - 1024) //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 // ***************************************************************** // System Settings #define PIOS_MASTER_CLOCK 72000000ul #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_LED #define PIOS_LED_LED1_GPIO_PORT GPIOA // USB Activity LED #define PIOS_LED_LED1_GPIO_PIN GPIO_Pin_3 #define PIOS_LED_LED1_GPIO_CLK RCC_APB2Periph_GPIOA #define PIOS_LED_LED2_GPIO_PORT GPIOB // LINK LED #define PIOS_LED_LED2_GPIO_PIN GPIO_Pin_5 #define PIOS_LED_LED2_GPIO_CLK RCC_APB2Periph_GPIOB #define PIOS_LED_LED3_GPIO_PORT GPIOB // RX LED #define PIOS_LED_LED3_GPIO_PIN GPIO_Pin_6 #define PIOS_LED_LED3_GPIO_CLK RCC_APB2Periph_GPIOB #define PIOS_LED_LED4_GPIO_PORT GPIOB // TX LED #define PIOS_LED_LED4_GPIO_PIN GPIO_Pin_7 #define PIOS_LED_LED4_GPIO_CLK RCC_APB2Periph_GPIOB #define PIOS_LED_NUM 4 #define PIOS_LED_PORTS { PIOS_LED_LED1_GPIO_PORT, PIOS_LED_LED2_GPIO_PORT, PIOS_LED_LED3_GPIO_PORT, PIOS_LED_LED4_GPIO_PORT } #define PIOS_LED_PINS { PIOS_LED_LED1_GPIO_PIN, PIOS_LED_LED2_GPIO_PIN, PIOS_LED_LED3_GPIO_PIN, PIOS_LED_LED4_GPIO_PIN } #define PIOS_LED_CLKS { PIOS_LED_LED1_GPIO_CLK, PIOS_LED_LED2_GPIO_CLK, PIOS_LED_LED3_GPIO_CLK, PIOS_LED_LED4_GPIO_CLK } #define USB_LED_ON PIOS_LED_On(LED1) #define USB_LED_OFF PIOS_LED_Off(LED1) #define USB_LED_TOGGLE PIOS_LED_Toggle(LED1) #define LINK_LED_ON PIOS_LED_On(LED2) #define LINK_LED_OFF PIOS_LED_Off(LED2) #define LINK_LED_TOGGLE PIOS_LED_Toggle(LED2) #define RX_LED_ON PIOS_LED_On(LED3) #define RX_LED_OFF PIOS_LED_Off(LED3) #define RX_LED_TOGGLE PIOS_LED_Toggle(LED3) #define TX_LED_ON PIOS_LED_On(LED4) #define TX_LED_OFF PIOS_LED_Off(LED4) #define TX_LED_TOGGLE PIOS_LED_Toggle(LED4) // ***************************************************************** // Delay Timer #define PIOS_DELAY_TIMER TIM2 #define PIOS_DELAY_TIMER_RCC_FUNC RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, 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 // ***************************************************************** // SPI // // See also pios_board.c #define PIOS_SPI_PORT 0 // ***************************************************************** // PIOS_USART #define PIOS_USART_RX_BUFFER_SIZE 512 #define PIOS_USART_TX_BUFFER_SIZE 512 #define PIOS_COM_SERIAL 0 //#define PIOS_COM_DEBUG PIOS_COM_SERIAL // comment this out if you don't want debug text sent out on the serial port #define PIOS_USART_BAUDRATE 57600 //#define PIOS_USART_BAUDRATE 115200 #if defined(PIOS_INCLUDE_USB_HID) #define PIOS_COM_TELEM_USB 1 #endif #if defined(PIOS_COM_DEBUG) #define DEBUG_PRINTF(...) PIOS_COM_SendFormattedString(PIOS_COM_DEBUG, __VA_ARGS__) // #define DEBUG_PRINTF(...) PIOS_COM_SendFormattedStringNonBlocking(PIOS_COM_DEBUG, __VA_ARGS__) #else #define DEBUG_PRINTF(...) #endif // ***************************************************************** // ADC // PIOS_ADC_PinGet(0) = Temperature Sensor (On-board) // PIOS_ADC_PinGet(1) = PSU Voltage #define PIOS_ADC_OVERSAMPLING_RATE 2 #define PIOS_ADC_USE_TEMP_SENSOR 1 #define PIOS_ADC_TEMP_SENSOR_ADC ADC1 #define PIOS_ADC_TEMP_SENSOR_ADC_CHANNEL 16 // Temperature sensor channel //#define PIOS_ADC_TEMP_SENSOR_ADC_CHANNEL 17 // VREF channel #define PIOS_ADC_PIN1_GPIO_PORT GPIOB // Port B (PSU Voltage) #define PIOS_ADC_PIN1_GPIO_PIN GPIO_Pin_1 // PB1 .. ADC12_IN9 #define PIOS_ADC_PIN1_GPIO_CHANNEL ADC_Channel_9 #define PIOS_ADC_PIN1_ADC ADC2 #define PIOS_ADC_PIN1_ADC_NUMBER 1 #define PIOS_ADC_NUM_PINS 1 #define PIOS_ADC_PORTS { PIOS_ADC_PIN1_GPIO_PORT } #define PIOS_ADC_PINS { PIOS_ADC_PIN1_GPIO_PIN } #define PIOS_ADC_CHANNELS { PIOS_ADC_PIN1_GPIO_CHANNEL } #define PIOS_ADC_MAPPING { PIOS_ADC_PIN1_ADC } #define PIOS_ADC_CHANNEL_MAPPING { PIOS_ADC_PIN1_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_Div2 // ADC clock = PCLK2/2 //#define PIOS_ADC_ADCCLK RCC_PCLK2_Div4 // ADC clock = PCLK2/4 //#define PIOS_ADC_ADCCLK RCC_PCLK2_Div6 // ADC clock = PCLK2/6 #define PIOS_ADC_ADCCLK RCC_PCLK2_Div8 // ADC clock = PCLK2/8 //#define PIOS_ADC_SAMPLE_TIME ADC_SampleTime_1Cycles5 //#define PIOS_ADC_SAMPLE_TIME ADC_SampleTime_7Cycles5 //#define PIOS_ADC_SAMPLE_TIME ADC_SampleTime_13Cycles5 //#define PIOS_ADC_SAMPLE_TIME ADC_SampleTime_28Cycles5 //#define PIOS_ADC_SAMPLE_TIME ADC_SampleTime_41Cycles5 //#define PIOS_ADC_SAMPLE_TIME ADC_SampleTime_55Cycles5 //#define PIOS_ADC_SAMPLE_TIME ADC_SampleTime_71Cycles5 #define PIOS_ADC_SAMPLE_TIME ADC_SampleTime_239Cycles5 /* Sample time: */ /* With an ADCCLK = 14 MHz and a sampling time of 293.5 cycles: */ /* Tconv = 239.5 + 12.5 = 252 cycles = 18�s */ /* (1 / (ADCCLK / CYCLES)) = Sample Time (�S) */ #define PIOS_ADC_IRQ_PRIO 3 // ***************************************************************** // GPIO output pins // GPIO_Mode_Out_OD Open Drain Output // GPIO_Mode_Out_PP Push-Pull Output // GPIO_Mode_AF_OD Open Drain Output Alternate-Function // GPIO_Mode_AF_PP Push-Pull Output Alternate-Function // Serial port RTS line #define PIOS_GPIO_OUT_0_PORT GPIOB #define PIOS_GPIO_OUT_0_PIN GPIO_Pin_15 #define PIOS_GPIO_OUT_0_GPIO_CLK RCC_APB2Periph_GPIOB // RF module chip-select line #define PIOS_GPIO_OUT_1_PORT GPIOA #define PIOS_GPIO_OUT_1_PIN GPIO_Pin_4 #define PIOS_GPIO_OUT_1_GPIO_CLK RCC_APB2Periph_GPIOA // EEPROM chip-select line #define PIOS_GPIO_OUT_2_PORT GPIOA #define PIOS_GPIO_OUT_2_PIN GPIO_Pin_1 #define PIOS_GPIO_OUT_2_GPIO_CLK RCC_APB2Periph_GPIOA /* // SPI-1 SCK line #define PIOS_GPIO_OUT_3_PORT GPIOA #define PIOS_GPIO_OUT_3_PIN GPIO_Pin_5 #define PIOS_GPIO_OUT_3_GPIO_CLK RCC_APB2Periph_GPIOA // SPI-1 MOSI line #define PIOS_GPIO_OUT_4_PORT GPIOA #define PIOS_GPIO_OUT_4_PIN GPIO_Pin_7 #define PIOS_GPIO_OUT_4_GPIO_CLK RCC_APB2Periph_GPIOA */ #define PIOS_GPIO_NUM 3 #define PIOS_GPIO_PORTS { PIOS_GPIO_OUT_0_PORT, PIOS_GPIO_OUT_1_PORT, PIOS_GPIO_OUT_2_PORT, } #define PIOS_GPIO_PINS { PIOS_GPIO_OUT_0_PIN, PIOS_GPIO_OUT_1_PIN, PIOS_GPIO_OUT_2_PIN, } #define PIOS_GPIO_CLKS { PIOS_GPIO_OUT_0_GPIO_CLK, PIOS_GPIO_OUT_1_GPIO_CLK, PIOS_GPIO_OUT_2_GPIO_CLK } #define SERIAL_RTS_ENABLE PIOS_GPIO_Enable(0) #define SERIAL_RTS_SET PIOS_GPIO_Off(0) #define SERIAL_RTS_CLEAR PIOS_GPIO_On(0) #define RF_CS_ENABLE PIOS_GPIO_Enable(1) #define RF_CS_HIGH PIOS_GPIO_Off(1) #define RF_CS_LOW PIOS_GPIO_On(1) #define EE_CS_ENABLE PIOS_GPIO_Enable(2) #define EE_CS_HIGH PIOS_GPIO_Off(2) #define EE_CS_LOW PIOS_GPIO_On(2) /* #define SPI1_SCK_ENABLE PIOS_GPIO_Enable(3) #define SPI1_SCK_HIGH PIOS_GPIO_Off(3) #define SPI1_SCK_LOW PIOS_GPIO_On(3) #define SPI1_MOSI_ENABLE PIOS_GPIO_Enable(4) #define SPI1_MOSI_HIGH PIOS_GPIO_Off(4) #define SPI1_MOSI_LOW PIOS_GPIO_On(4) */ // ***************************************************************** // GPIO input pins // GPIO_Mode_AIN Analog Input // GPIO_Mode_IN_FLOATING Input Floating // GPIO_Mode_IPD Input Pull-Down // GPIO_Mode_IPU Input Pull-up // API mode line #define GPIO_IN_0_PORT GPIOB #define GPIO_IN_0_PIN GPIO_Pin_13 #define GPIO_IN_0_MODE GPIO_Mode_IPU // Serial port CTS line #define GPIO_IN_1_PORT GPIOB #define GPIO_IN_1_PIN GPIO_Pin_14 #define GPIO_IN_1_MODE GPIO_Mode_IPU // VBUS sense line #define GPIO_IN_2_PORT GPIOA #define GPIO_IN_2_PIN GPIO_Pin_8 #define GPIO_IN_2_MODE GPIO_Mode_IN_FLOATING // 868MHz jumper option #define GPIO_IN_3_PORT GPIOB #define GPIO_IN_3_PIN GPIO_Pin_8 #define GPIO_IN_3_MODE GPIO_Mode_IPU // 915MHz jumper option #define GPIO_IN_4_PORT GPIOB #define GPIO_IN_4_PIN GPIO_Pin_9 #define GPIO_IN_4_MODE GPIO_Mode_IPU // RF INT line #define GPIO_IN_5_PORT GPIOA #define GPIO_IN_5_PIN GPIO_Pin_2 #define GPIO_IN_5_MODE GPIO_Mode_IN_FLOATING // RF misc line #define GPIO_IN_6_PORT GPIOB #define GPIO_IN_6_PIN GPIO_Pin_0 #define GPIO_IN_6_MODE GPIO_Mode_IN_FLOATING #define GPIO_IN_NUM 7 #define GPIO_IN_PORTS { GPIO_IN_0_PORT, GPIO_IN_1_PORT, GPIO_IN_2_PORT, GPIO_IN_3_PORT, GPIO_IN_4_PORT, GPIO_IN_5_PORT, GPIO_IN_6_PORT } #define GPIO_IN_PINS { GPIO_IN_0_PIN, GPIO_IN_1_PIN, GPIO_IN_2_PIN, GPIO_IN_3_PIN, GPIO_IN_4_PIN, GPIO_IN_5_PIN, GPIO_IN_6_PIN } #define GPIO_IN_MODES { GPIO_IN_0_MODE, GPIO_IN_1_MODE, GPIO_IN_2_MODE, GPIO_IN_3_MODE, GPIO_IN_4_MODE, GPIO_IN_5_MODE, GPIO_IN_6_MODE } #define API_MODE_PIN 0 #define SERIAL_CTS_PIN 1 #define VBUS_SENSE_PIN 2 #define _868MHz_PIN 3 #define _915MHz_PIN 4 #define RF_INT_PIN 5 #define RF_MISC_PIN 6 // ***************************************************************** // 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 // ***************************************************************** // RFM22 //#define RFM22_EXT_INT_USE #define RFM22_PIOS_SPI PIOS_SPI_PORT // SPIx #if defined(RFM22_EXT_INT_USE) #define RFM22_EXT_INT_PORT_SOURCE GPIO_PortSourceGPIOA #define RFM22_EXT_INT_PIN_SOURCE GPIO_PinSource2 #define RFM22_EXT_INT_LINE EXTI_Line2 #define RFM22_EXT_INT_IRQn EXTI2_IRQn #define RFM22_EXT_INT_FUNC EXTI2_IRQHandler #define RFM22_EXT_INT_PRIORITY 1 #endif // ***************************************************************** #endif /* PIOS_BOARD_H */