/** ****************************************************************************** * * @file pios_board.h * @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2016. * The OpenPilot Team, http://www.openpilot.org Copyright (C) 2013. * @brief Defines PiOS board hardware for the OpenPilot OPLink Mini board. * @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 #define ADD_ONE_ADC // ------------------------ // 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 500 #define PIOS_WDG_REGISTER BKP_DR4 #define PIOS_WDG_TELEMETRYTX 0x0001 #define PIOS_WDG_TELEMETRYRX 0x0002 #define PIOS_WDG_TELEMRADIOTX 0x0004 #define PIOS_WDG_TELEMRADIORX 0x0008 #define PIOS_WDG_RFM22B 0x000f #define PIOS_WDG_PPMINPUT 0x0010 // ------------------------ // TELEMETRY // ------------------------ #define TELEM_QUEUE_SIZE 20 // ------------------------ // PIOS_LED // ------------------------ #define PIOS_LED_USB 0 #define PIOS_LED_LINK 1 #define PIOS_LED_RX 2 #define PIOS_LED_TX 3 #ifdef PIOS_RFM22B_DEBUG_ON_TELEM #define PIOS_LED_D1 4 #define PIOS_LED_D2 5 #define PIOS_LED_D3 6 #define PIOS_LED_D4 7 #endif #define PIOS_LED_HEARTBEAT PIOS_LED_LINK #define PIOS_LED_ALARM PIOS_LED_TX #define USB_LED_ON PIOS_LED_On(PIOS_LED_USB) #define USB_LED_OFF PIOS_LED_Off(PIOS_LED_USB) #define USB_LED_TOGGLE PIOS_LED_Toggle(PIOS_LED_USB) #define LINK_LED_ON PIOS_LED_On(PIOS_LED_LINK) #define LINK_LED_OFF PIOS_LED_Off(PIOS_LED_LINK) #define LINK_LED_TOGGLE PIOS_LED_Toggle(PIOS_LED_LINK) #define RX_LED_ON PIOS_LED_On(PIOS_LED_RX) #define RX_LED_OFF PIOS_LED_Off(PIOS_LED_RX) #define RX_LED_TOGGLE PIOS_LED_Toggle(PIOS_LED_RX) #define TX_LED_ON PIOS_LED_On(PIOS_LED_TX) #define TX_LED_OFF PIOS_LED_Off(PIOS_LED_TX) #define TX_LED_TOGGLE PIOS_LED_Toggle(PIOS_LED_TX) #ifdef PIOS_RFM22B_DEBUG_ON_TELEM #define D1_LED_ON PIOS_LED_On(PIOS_LED_D1) #define D1_LED_OFF PIOS_LED_Off(PIOS_LED_D1) #define D1_LED_TOGGLE PIOS_LED_Toggle(PIOS_LED_D1) #define D2_LED_ON PIOS_LED_On(PIOS_LED_D2) #define D2_LED_OFF PIOS_LED_Off(PIOS_LED_D2) #define D2_LED_TOGGLE PIOS_LED_Toggle(PIOS_LED_D2) #define D3_LED_ON PIOS_LED_On(PIOS_LED_D3) #define D3_LED_OFF PIOS_LED_Off(PIOS_LED_D3) #define D3_LED_TOGGLE PIOS_LED_Toggle(PIOS_LED_D3) #define D4_LED_ON PIOS_LED_On(PIOS_LED_D4) #define D4_LED_OFF PIOS_LED_Off(PIOS_LED_D4) #define D4_LED_TOGGLE PIOS_LED_Toggle(PIOS_LED_D4) #endif // ------------------------- // 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 1 extern uint32_t pios_i2c_flexi_adapter_id; #define PIOS_I2C_MAIN_ADAPTER (pios_i2c_flexi_adapter_id) // ------------------------ // PIOS_SPI // See also pios_board.c // ------------------------ #define PIOS_SPI_MAX_DEVS 1 // ------------------------- // PIOS_USART // ------------------------- #define PIOS_USART_MAX_DEVS 3 // ------------------------- // PIOS_COM // // See also pios_board.c // ------------------------- #define PIOS_COM_MAX_DEVS 5 // The direct com ports extern uint32_t pios_com_hid_id; extern uint32_t pios_com_vcp_id; extern uint32_t pios_com_main_id; extern uint32_t pios_com_flexi_id; extern uint32_t pios_com_pri_radio_id; extern uint32_t pios_com_aux_radio_id; // The port that the GCS is connected to extern uint32_t pios_com_gcs_id; // The destination port from the GCS port extern uint32_t pios_com_gcs_out_id; // The destination port from the VCP com bridge extern uint32_t pios_com_bridge_id; // The destination port for the primary radio port extern uint32_t pios_com_pri_radio_out_id; // The destination port for the auxiliary radio port. extern uint32_t pios_com_aux_radio_out_id; // The PPM IDs extern uint32_t pios_ppm_rcvr_id; extern uint32_t pios_ppm_out_id; #define PIOS_COM_HID (pios_com_hid_id) #define PIOS_COM_VCP (pios_com_vcp_id) #define PIOS_COM_MAIN (pios_com_main_id) #define PIOS_COM_FLEXI (pios_com_flexi_id) #define PIOS_COM_PRI_RADIO (pios_com_pri_radio_id) #define PIOS_COM_AUX_RADIO (pios_com_aux_radio_id) #define PIOS_COM_PRI_RADIO_OUT (pios_com_pri_radio_out_id) #define PIOS_COM_AUX_RADIO_OUT (pios_com_aux_radio_out_id) #define PIOS_COM_GCS (pios_com_gcs_id) #define PIOS_COM_GCS_OUT (pios_com_gcs_out_id) #define PIOS_COM_BRIDGE (pios_com_bridge_id) #define PIOS_PPM_RECEIVER (pios_ppm_rcvr_id) #define PIOS_PPM_OUTPUT (pios_ppm_out_id) #define RFM22_DEBUG 1 // ------------------------- // ADC // None // ------------------------- // #define PIOS_ADC_OVERSAMPLING_RATE 1 #define PIOS_ADC_USE_TEMP_SENSOR 0 #define PIOS_ADC_TEMP_SENSOR_ADC ADC1 #define PIOS_ADC_TEMP_SENSOR_ADC_CHANNEL 1 #define PIOS_ADC_NUM_PINS 0 #define PIOS_ADC_PORTS {} #define PIOS_ADC_PINS {} #define PIOS_ADC_CHANNELS {} #define PIOS_ADC_MAPPING {} #define PIOS_ADC_CHANNEL_MAPPING {} #define PIOS_ADC_NUM_CHANNELS (PIOS_ADC_NUM_PINS + PIOS_ADC_USE_TEMP_SENSOR) #define PIOS_ADC_NUM_ADC_CHANNELS 0 #define PIOS_ADC_USE_ADC2 0 #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 #define PIOS_ADC_TEMPERATURE_PIN 0 // ------------------------ // 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 12 // ------------------------- // Receiver PWM inputs // ------------------------- #define PIOS_PWM_NUM_INPUTS 4 // ------------------------- // 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_HID_MAX_DEVS 1 #define PIOS_USB_MAX_DEVS 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 // ------------------------- // RFM22 // ------------------------- #if defined(PIOS_INCLUDE_RFM22B) extern uint32_t pios_spi_rfm22b_id; #define PIOS_RFM22_SPI_PORT (pios_spi_rfm22b_id) extern uint32_t pios_rfm22b_id; #endif /* PIOS_INCLUDE_RFM22B */ // ------------------------- // Packet Handler // ------------------------- extern uint32_t pios_packet_handler; #define PIOS_PACKET_HANDLER (pios_packet_handler) #define PIOS_PH_MAX_PACKET 255 #define PIOS_PH_WIN_SIZE 3 #define PIOS_PH_MAX_CONNECTIONS 1 #define RS_ECC_NPARITY 4 // ------------------------- // Reed-Solomon ECC // ------------------------- #define RS_ECC_NPARITY 4 // ------------------------- // Flash EEPROM Emulation // ------------------------- #define PIOS_FLASH_SIZE 0x20000 #define PIOS_FLASH_EEPROM_START_ADDR 0x08000000 #define PIOS_FLASH_PAGE_SIZE 1024 #define PIOS_FLASH_EEPROM_ADDR (PIOS_FLASH_EEPROM_START_ADDR + PIOS_FLASH_SIZE - PIOS_FLASH_PAGE_SIZE) #define PIOS_FLASH_EEPROM_LEN PIOS_FLASH_PAGE_SIZE #endif /* PIOS_BOARD_H */