/** ****************************************************************************** * * @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_AHRS_H_ #define STM32103CB_AHRS_H_ //------------------------ // Timers and Channels Used //------------------------ /* Timer | Channel 1 | Channel 2 | Channel 3 | Channel 4 ------+-----------+-----------+-----------+---------- TIM1 | | | | TIM2 | --------------- PIOS_DELAY ----------------- TIM3 | | | | TIM4 | | | | 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 2 #define HW_VERSION 69 #define BOOTLOADER_VERSION 0 #define MEM_SIZE 0x20000 //128K #define SIZE_OF_DESCRIPTION 100 #define START_OF_USER_CODE (uint32_t)0x08002000 #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 //------------------------ // WATCHDOG_SETTINGS //------------------------ #define PIOS_WATCHDOG_TIMEOUT 250 #define PIOS_WDG_REGISTER BKP_DR4 #define PIOS_WDG_ACTUATOR 0x0001 #define PIOS_WDG_STABILIZATION 0x0002 #define PIOS_WDG_AHRS 0x0004 #define PIOS_WDG_MANUAL 0x0008 //------------------------ // PIOS_LED //------------------------ #define PIOS_LED_LED1_GPIO_PORT GPIOA #define PIOS_LED_LED1_GPIO_PIN GPIO_Pin_6 #define PIOS_LED_LED1_GPIO_CLK RCC_APB2Periph_GPIOA #define PIOS_LED_NUM 1 #define PIOS_LED_PORTS { PIOS_LED_LED1_GPIO_PORT } #define PIOS_LED_PINS { PIOS_LED_LED1_GPIO_PIN } #define PIOS_LED_CLKS { PIOS_LED_LED1_GPIO_CLK } //------------------------- // Delay Timer //------------------------- #define PIOS_DELAY_TIMER TIM2 #define PIOS_DELAY_TIMER_RCC_FUNC RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE) //------------------------- // System Settings //------------------------- #define PIOS_MASTER_CLOCK 72000000 #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_I2C // See also pios_board.c //------------------------ #define PIOS_I2C_MAIN_ADAPTER 0 //------------------------- // SPI // // See also pios_board.c //------------------------- #define PIOS_SPI_OP 0 //------------------------- // PIOS_USART //------------------------- #define PIOS_USART_RX_BUFFER_SIZE 256 #define PIOS_USART_TX_BUFFER_SIZE 256 #define PIOS_USART_BAUDRATE 230400 #define PIOS_COM_AUX 0 #define PIOS_COM_DEBUG PIOS_COM_AUX //------------------------- // ADC // PIOS_ADC_PinGet(0) = Accel Z // PIOS_ADC_PinGet(2) = Accel Y // PIOS_ADC_PinGet(4) = Accel X // PIOS_ADC_PinGet(1) = Gyro X // PIOS_ADC_PinGet(3) = Gyro Y // PIOS_ADC_PinGet(5) = Gyro Z // PIOS_ADC_PinGet(6) = XY Temp // PIOS_ADC_PinGet(7) = Z Temp //------------------------- //#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_PIN1_GPIO_PORT GPIOA // PA2 (Accel X) #define PIOS_ADC_PIN1_GPIO_PIN GPIO_Pin_2 // ADC12_IN2 #define PIOS_ADC_PIN1_GPIO_CHANNEL ADC_Channel_2 #define PIOS_ADC_PIN1_ADC ADC1 #define PIOS_ADC_PIN1_ADC_NUMBER 1 #define PIOS_ADC_PIN2_GPIO_PORT GPIOA // PA1 (Accel Y) #define PIOS_ADC_PIN2_GPIO_PIN GPIO_Pin_1 // ADC123_IN1 #define PIOS_ADC_PIN2_GPIO_CHANNEL ADC_Channel_1 #define PIOS_ADC_PIN2_ADC ADC1 #define PIOS_ADC_PIN2_ADC_NUMBER 2 #define PIOS_ADC_PIN3_GPIO_PORT GPIOA // PA0 (Accel Z) #define PIOS_ADC_PIN3_GPIO_PIN GPIO_Pin_0 // ADC12_IN0 #define PIOS_ADC_PIN3_GPIO_CHANNEL ADC_Channel_0 #define PIOS_ADC_PIN3_ADC ADC1 #define PIOS_ADC_PIN3_ADC_NUMBER 3 #define PIOS_ADC_PIN4_GPIO_PORT GPIOA // PA6 (Temp_XY) #define PIOS_ADC_PIN4_GPIO_PIN GPIO_Pin_6 // ADC12_IN6 #define PIOS_ADC_PIN4_GPIO_CHANNEL ADC_Channel_6 #define PIOS_ADC_PIN4_ADC ADC1 #define PIOS_ADC_PIN4_ADC_NUMBER 4 #define PIOS_ADC_PIN5_GPIO_PORT GPIOA // PA4 (Gyro X) #define PIOS_ADC_PIN5_GPIO_PIN GPIO_Pin_4 // ADC12_IN4 #define PIOS_ADC_PIN5_GPIO_CHANNEL ADC_Channel_4 #define PIOS_ADC_PIN5_ADC ADC2 #define PIOS_ADC_PIN5_ADC_NUMBER 1 #define PIOS_ADC_PIN6_GPIO_PORT GPIOA // PA5 (Gyro Y) #define PIOS_ADC_PIN6_GPIO_PIN GPIO_Pin_5 // ADC12_IN5 #define PIOS_ADC_PIN6_GPIO_CHANNEL ADC_Channel_5 #define PIOS_ADC_PIN6_ADC ADC2 #define PIOS_ADC_PIN6_ADC_NUMBER 2 #define PIOS_ADC_PIN7_GPIO_PORT GPIOA // PA7 (Gyro Z) #define PIOS_ADC_PIN7_GPIO_PIN GPIO_Pin_7 // ADC12_IN7 #define PIOS_ADC_PIN7_GPIO_CHANNEL ADC_Channel_7 #define PIOS_ADC_PIN7_ADC ADC2 #define PIOS_ADC_PIN7_ADC_NUMBER 3 #define PIOS_ADC_PIN8_GPIO_PORT GPIOB // PB1 (Z Temp) #define PIOS_ADC_PIN8_GPIO_PIN GPIO_Pin_1 // ADC12_IN9 #define PIOS_ADC_PIN8_GPIO_CHANNEL ADC_Channel_9 #define PIOS_ADC_PIN8_ADC ADC2 #define PIOS_ADC_PIN8_ADC_NUMBER 4 #define PIOS_ADC_NUM_PINS 8 #define PIOS_ADC_PORTS { PIOS_ADC_PIN1_GPIO_PORT, PIOS_ADC_PIN2_GPIO_PORT, PIOS_ADC_PIN3_GPIO_PORT, PIOS_ADC_PIN4_GPIO_PORT, PIOS_ADC_PIN5_GPIO_PORT, PIOS_ADC_PIN6_GPIO_PORT, PIOS_ADC_PIN7_GPIO_PORT, PIOS_ADC_PIN8_GPIO_PORT } #define PIOS_ADC_PINS { PIOS_ADC_PIN1_GPIO_PIN, PIOS_ADC_PIN2_GPIO_PIN, PIOS_ADC_PIN3_GPIO_PIN, PIOS_ADC_PIN4_GPIO_PIN, PIOS_ADC_PIN5_GPIO_PIN, PIOS_ADC_PIN6_GPIO_PIN, PIOS_ADC_PIN7_GPIO_PIN, PIOS_ADC_PIN8_GPIO_PIN } #define PIOS_ADC_CHANNELS { PIOS_ADC_PIN1_GPIO_CHANNEL, PIOS_ADC_PIN2_GPIO_CHANNEL, PIOS_ADC_PIN3_GPIO_CHANNEL, PIOS_ADC_PIN4_GPIO_CHANNEL, PIOS_ADC_PIN5_GPIO_CHANNEL, PIOS_ADC_PIN6_GPIO_CHANNEL, PIOS_ADC_PIN7_GPIO_CHANNEL, PIOS_ADC_PIN8_GPIO_CHANNEL } #define PIOS_ADC_MAPPING { PIOS_ADC_PIN1_ADC, PIOS_ADC_PIN2_ADC, PIOS_ADC_PIN3_ADC, PIOS_ADC_PIN4_ADC, PIOS_ADC_PIN5_ADC, PIOS_ADC_PIN6_ADC, PIOS_ADC_PIN7_ADC, PIOS_ADC_PIN8_ADC } #define PIOS_ADC_CHANNEL_MAPPING { PIOS_ADC_PIN1_ADC_NUMBER, PIOS_ADC_PIN2_ADC_NUMBER, PIOS_ADC_PIN3_ADC_NUMBER, PIOS_ADC_PIN4_ADC_NUMBER, PIOS_ADC_PIN5_ADC_NUMBER, PIOS_ADC_PIN6_ADC_NUMBER, PIOS_ADC_PIN7_ADC_NUMBER, PIOS_ADC_PIN8_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 /* 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 / 16 / 2 / 252 / (PIOS_ADC_NUM_PINS / 2)) #define EKF_RATE (PIOS_ADC_RATE / adc_oversampling / 2) //------------------------- // Receiver PWM inputs //------------------------- #define PIOS_PWM_CH1_GPIO_PORT GPIOA #define PIOS_PWM_CH1_PIN GPIO_Pin_9 #define PIOS_PWM_CH1_TIM_PORT TIM1 #define PIOS_PWM_CH1_CH TIM_Channel_2 #define PIOS_PWM_CH1_CCR TIM_IT_CC2 #define PIOS_PWM_CH2_GPIO_PORT GPIOA #define PIOS_PWM_CH2_PIN GPIO_Pin_10 #define PIOS_PWM_CH2_TIM_PORT TIM1 #define PIOS_PWM_CH2_CH TIM_Channel_3 #define PIOS_PWM_CH2_CCR TIM_IT_CC3 #define PIOS_PWM_CH3_GPIO_PORT GPIOA #define PIOS_PWM_CH3_PIN GPIO_Pin_0 #define PIOS_PWM_CH3_TIM_PORT TIM5 #define PIOS_PWM_CH3_CH TIM_Channel_1 #define PIOS_PWM_CH3_CCR TIM_IT_CC1 #define PIOS_PWM_CH4_GPIO_PORT GPIOA #define PIOS_PWM_CH4_PIN GPIO_Pin_8 #define PIOS_PWM_CH4_TIM_PORT TIM1 #define PIOS_PWM_CH4_CH TIM_Channel_1 #define PIOS_PWM_CH4_CCR TIM_IT_CC1 #define PIOS_PWM_CH5_GPIO_PORT GPIOB #define PIOS_PWM_CH5_PIN GPIO_Pin_1 #define PIOS_PWM_CH5_TIM_PORT TIM3 #define PIOS_PWM_CH5_CH TIM_Channel_4 #define PIOS_PWM_CH5_CCR TIM_IT_CC4 #define PIOS_PWM_CH6_GPIO_PORT GPIOB #define PIOS_PWM_CH6_PIN GPIO_Pin_0 #define PIOS_PWM_CH6_TIM_PORT TIM3 #define PIOS_PWM_CH6_CH TIM_Channel_3 #define PIOS_PWM_CH6_CCR TIM_IT_CC3 #define PIOS_PWM_CH7_GPIO_PORT GPIOB #define PIOS_PWM_CH7_PIN GPIO_Pin_4 #define PIOS_PWM_CH7_TIM_PORT TIM3 #define PIOS_PWM_CH7_CH TIM_Channel_1 #define PIOS_PWM_CH7_CCR TIM_IT_CC1 #define PIOS_PWM_CH8_GPIO_PORT GPIOB #define PIOS_PWM_CH8_PIN GPIO_Pin_5 #define PIOS_PWM_CH8_TIM_PORT TIM3 #define PIOS_PWM_CH8_CH TIM_Channel_2 #define PIOS_PWM_CH8_CCR TIM_IT_CC2 #define PIOS_PWM_GPIO_PORTS { PIOS_PWM_CH1_GPIO_PORT, PIOS_PWM_CH2_GPIO_PORT, PIOS_PWM_CH3_GPIO_PORT, PIOS_PWM_CH4_GPIO_PORT, PIOS_PWM_CH5_GPIO_PORT, PIOS_PWM_CH6_GPIO_PORT, PIOS_PWM_CH7_GPIO_PORT, PIOS_PWM_CH8_GPIO_PORT } #define PIOS_PWM_GPIO_PINS { PIOS_PWM_CH1_PIN, PIOS_PWM_CH2_PIN, PIOS_PWM_CH3_PIN, PIOS_PWM_CH4_PIN, PIOS_PWM_CH5_PIN, PIOS_PWM_CH6_PIN, PIOS_PWM_CH7_PIN, PIOS_PWM_CH8_PIN } #define PIOS_PWM_TIM_PORTS { PIOS_PWM_CH1_TIM_PORT, PIOS_PWM_CH2_TIM_PORT, PIOS_PWM_CH3_TIM_PORT, PIOS_PWM_CH4_TIM_PORT, PIOS_PWM_CH5_TIM_PORT, PIOS_PWM_CH6_TIM_PORT, PIOS_PWM_CH7_TIM_PORT, PIOS_PWM_CH8_TIM_PORT } #define PIOS_PWM_TIM_CHANNELS { PIOS_PWM_CH1_CH, PIOS_PWM_CH2_CH, PIOS_PWM_CH3_CH, PIOS_PWM_CH4_CH, PIOS_PWM_CH5_CH, PIOS_PWM_CH6_CH, PIOS_PWM_CH7_CH, PIOS_PWM_CH8_CH } #define PIOS_PWM_TIM_CCRS { PIOS_PWM_CH1_CCR, PIOS_PWM_CH2_CCR, PIOS_PWM_CH3_CCR, PIOS_PWM_CH4_CCR, PIOS_PWM_CH5_CCR, PIOS_PWM_CH6_CCR, PIOS_PWM_CH7_CCR, PIOS_PWM_CH8_CCR } #define PIOS_PWM_TIMS { TIM1, TIM3, TIM5 } #define PIOS_PWM_TIM_IRQS { TIM1_CC_IRQn, TIM3_IRQn, TIM5_IRQn } #define PIOS_PWM_NUM_INPUTS 8 #define PIOS_PWM_NUM_TIMS 3 #define PIOS_PWM_SUPV_ENABLED 1 #define PIOS_PWM_SUPV_TIMER TIM6 #define PIOS_PWM_SUPV_TIMER_RCC_FUNC RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM6, ENABLE) #define PIOS_PWM_SUPV_HZ 25 #define PIOS_PWM_SUPV_IRQ_CHANNEL TIM6_IRQn #define PIOS_PWM_SUPV_IRQ_FUNC void TIM6_IRQHandler(void) //------------------------- // Servo outputs //------------------------- #define PIOS_SERVO_GPIO_PORT_1TO4 GPIOB #define PIOS_SERVO_GPIO_PIN_1 GPIO_Pin_6 #define PIOS_SERVO_GPIO_PIN_2 GPIO_Pin_7 #define PIOS_SERVO_GPIO_PIN_3 GPIO_Pin_8 #define PIOS_SERVO_GPIO_PIN_4 GPIO_Pin_9 #define PIOS_SERVO_GPIO_PORT_5TO8 GPIOC #define PIOS_SERVO_GPIO_PIN_5 GPIO_Pin_6 #define PIOS_SERVO_GPIO_PIN_6 GPIO_Pin_7 #define PIOS_SERVO_GPIO_PIN_7 GPIO_Pin_8 #define PIOS_SERVO_GPIO_PIN_8 GPIO_Pin_9 #define PIOS_SERVO_NUM_OUTPUTS 8 #define PIOS_SERVO_NUM_TIMERS PIOS_SERVO_NUM_OUTPUTS #define PIOS_SERVO_UPDATE_HZ 50 #define PIOS_SERVOS_INITIAL_POSITION 0 /* dont want to start motors, have no pulse till settings loaded */ //------------------------- // GPIO //------------------------- #define PIOS_GPIO_1_PORT GPIOC #define PIOS_GPIO_1_PIN GPIO_Pin_0 #define PIOS_GPIO_1_GPIO_CLK RCC_APB2Periph_GPIOC #define PIOS_GPIO_2_PORT GPIOC #define PIOS_GPIO_2_PIN GPIO_Pin_1 #define PIOS_GPIO_2_GPIO_CLK RCC_APB2Periph_GPIOC #define PIOS_GPIO_3_PORT GPIOC #define PIOS_GPIO_3_PIN GPIO_Pin_2 #define PIOS_GPIO_3_GPIO_CLK RCC_APB2Periph_GPIOC #define PIOS_GPIO_4_PORT GPIOD #define PIOS_GPIO_4_PIN GPIO_Pin_2 #define PIOS_GPIO_4_GPIO_CLK RCC_APB2Periph_GPIOD #define PIOS_GPIO_PORTS { PIOS_GPIO_1_PORT, PIOS_GPIO_2_PORT, PIOS_GPIO_3_PORT, PIOS_GPIO_4_PORT } #define PIOS_GPIO_PINS { PIOS_GPIO_1_PIN, PIOS_GPIO_2_PIN, PIOS_GPIO_3_PIN, PIOS_GPIO_4_PIN } #define PIOS_GPIO_CLKS { PIOS_GPIO_1_GPIO_CLK, PIOS_GPIO_2_GPIO_CLK, PIOS_GPIO_3_GPIO_CLK, PIOS_GPIO_4_GPIO_CLK } #define PIOS_GPIO_NUM 4 //------------------------- // USB //------------------------- #define PIOS_USB_ENABLED 1 #define PIOS_USB_DETECT_GPIO_PORT GPIOC #define PIOS_USB_DETECT_GPIO_PIN GPIO_Pin_4 #define PIOS_USB_DETECT_EXTI_LINE EXTI_Line4 #define PIOS_IRQ_USB_PRIORITY PIOS_IRQ_PRIO_MID #endif /* STM32103CB_AHRS_H_ */