/**
******************************************************************************
*
* @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 */