/** ****************************************************************************** * * @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_PIPXTREME_H_ #define STM32103CB_PIPXTREME_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_TELEMETRY 0x0001 #define PIOS_WDG_RADIORX 0x0002 #define PIOS_WDG_RADIOTX 0x0004 #define PIOS_WDG_RFM22B 0x0008 //------------------------ // 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 #define PIOS_PERIPHERAL_CLOCK (PIOS_MASTER_CLOCK / 2) //------------------------- // 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 extern uint32_t pios_com_telem_usb_id; extern uint32_t pios_com_telem_vcp_id; extern uint32_t pios_com_telem_uart_telem_id; extern uint32_t pios_com_telem_uart_flexi_id; extern uint32_t pios_com_telemetry_id; extern uint32_t pios_com_rfm22b_id; extern uint32_t pios_com_radio_id; extern uint32_t pios_ppm_rcvr_id; extern uint32_t pios_ppm_out_id; #define PIOS_COM_TELEM_USB (pios_com_telem_usb_id) #define PIOS_COM_TELEM_VCP (pios_com_telem_vcp_id) #define PIOS_COM_TELEM_UART_FLEXI (pios_com_telem_uart_flexi_id) #define PIOS_COM_TELEM_UART_TELEM (pios_com_telem_uart_telem_id) #define PIOS_COM_TELEMETRY (pios_com_telemetry_id) #define PIOS_COM_RFM22B (pios_com_rfm22b_id) #define PIOS_COM_RADIO (pios_com_radio_id) #define PIOS_PPM_RECEIVER (pios_ppm_rcvr_id) #define PIOS_PPM_OUTPUT (pios_ppm_out_id) #define DEBUG_LEVEL 2 #if DEBUG_LEVEL > 1000 #define DEBUG_PRINTF(level, ...) {if(level <= DEBUG_LEVEL && PIOS_COM_DEBUG > 0) { PIOS_COM_SendFormattedStringNonBlocking(PIOS_COM_DEBUG, __VA_ARGS__); }} #else #define DEBUG_PRINTF(...) #endif #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 //------------------------ // 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 8 //------------------------- // 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 */ //-------------------------- // 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 //------------------------- #if defined(PIOS_INCLUDE_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 #endif /* PIOS_INCLUDE_PACKET_HANDLER */ //------------------------- // Packet Handler //------------------------- #if defined(PIOS_INCLUDE_PACKET_HANDLER) 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 #endif /* PIOS_INCLUDE_PACKET_HANDLER */ //------------------------- // 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 /* STM32103CB_PIPXTREME_H_ */