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https://bitbucket.org/librepilot/librepilot.git
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226f095a2e
The initial baud rates of each interface are now forced in the board init code. Any modules using USARTs should have fields added to their settings object to allow the user to change the baud rate from the default by using the COM layer APIs. Developers requiring custom baud rates before the settings objects are in place should locally edit the cfg structs to specify the desired baud rates.
347 lines
16 KiB
C
347 lines
16 KiB
C
/**
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******************************************************************************
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* @addtogroup OpenPilotSystem OpenPilot System
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* @{
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* @addtogroup OpenPilotCore OpenPilot Core
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* @{
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* @file pios_board.h
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief Defines board hardware for the OpenPilot Version 1.1 hardware.
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#ifndef STM3210E_OP_H_
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#define STM3210E_OP_H_
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//------------------------
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// Timers and Channels Used
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//------------------------
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/*
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Timer | Channel 1 | Channel 2 | Channel 3 | Channel 4
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------+-----------+-----------+-----------+----------
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TIM1 | RC In 3 | RC In 6 | RC In 5 |
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TIM2 | --------------- PIOS_DELAY -----------------
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TIM3 | RC In 7 | RC In 8 | RC In 1 | RC In 2
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TIM4 | Servo 1 | Servo 2 | Servo 3 | Servo 4
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TIM5 | RC In 4 | | |
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TIM6 | ----------- PIOS_PWM (Supervisor) ----------
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TIM7 | | | |
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TIM8 | Servo 5 | Servo 6 | Servo 7 | Servo 8
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------+-----------+-----------+-----------+----------
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*/
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//------------------------
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// DMA Channels Used
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//------------------------
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/* Channel 1 - ADC */
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/* Channel 2 - SPI1 RX */
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/* Channel 3 - SPI1 TX */
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/* Channel 4 - SPI2 RX */
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/* Channel 5 - SPI2 TX */
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/* Channel 6 - */
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/* Channel 7 - */
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/* Channel 8 - */
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/* Channel 9 - */
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/* Channel 10 - */
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/* Channel 11 - */
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/* Channel 12 - */
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//------------------------
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// BOOTLOADER_SETTINGS
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//------------------------
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#define BOARD_READABLE TRUE
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#define BOARD_WRITABLE TRUE
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#define MAX_DEL_RETRYS 3
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//------------------------
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// WATCHDOG_SETTINGS
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//------------------------
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#define PIOS_WATCHDOG_TIMEOUT 250
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#define PIOS_WDG_REGISTER BKP_DR4
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#define PIOS_WDG_ACTUATOR 0x0001
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#define PIOS_WDG_STABILIZATION 0x0002
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#define PIOS_WDG_AHRS 0x0004
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#define PIOS_WDG_MANUAL 0x0008
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//------------------------
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// TELEMETRY
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//------------------------
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#define TELEM_QUEUE_SIZE 20
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#define PIOS_TELEM_STACK_SIZE 624
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//------------------------
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// PIOS_LED
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//------------------------
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#define PIOS_LED_LED1_GPIO_PORT GPIOC
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#define PIOS_LED_LED1_GPIO_PIN GPIO_Pin_12
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#define PIOS_LED_LED1_GPIO_CLK RCC_APB2Periph_GPIOC
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#define PIOS_LED_LED2_GPIO_PORT GPIOC
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#define PIOS_LED_LED2_GPIO_PIN GPIO_Pin_13
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#define PIOS_LED_LED2_GPIO_CLK RCC_APB2Periph_GPIOC
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#define PIOS_LED_NUM 2
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#define PIOS_LED_PORTS { PIOS_LED_LED1_GPIO_PORT, PIOS_LED_LED2_GPIO_PORT }
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#define PIOS_LED_PINS { PIOS_LED_LED1_GPIO_PIN, PIOS_LED_LED2_GPIO_PIN }
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#define PIOS_LED_CLKS { PIOS_LED_LED1_GPIO_CLK, PIOS_LED_LED2_GPIO_CLK }
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//------------------------
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// PIOS_SPI
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// See also pios_board.c
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//------------------------
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#define PIOS_SPI_MAX_DEVS 2
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//------------------------
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// PIOS_I2C
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// See also pios_board.c
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//------------------------
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#define PIOS_I2C_MAX_DEVS 1
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extern uint32_t pios_i2c_main_adapter_id;
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#define PIOS_I2C_MAIN_ADAPTER (pios_i2c_main_adapter_id)
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//------------------------
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// PIOS_BMP085
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//------------------------
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#define PIOS_BMP085_EOC_GPIO_PORT GPIOC
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#define PIOS_BMP085_EOC_GPIO_PIN GPIO_Pin_15
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#define PIOS_BMP085_EOC_PORT_SOURCE GPIO_PortSourceGPIOC
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#define PIOS_BMP085_EOC_PIN_SOURCE GPIO_PinSource15
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#define PIOS_BMP085_EOC_CLK RCC_APB2Periph_GPIOC
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#define PIOS_BMP085_EOC_EXTI_LINE EXTI_Line15
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#define PIOS_BMP085_EOC_IRQn EXTI15_10_IRQn
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#define PIOS_BMP085_EOC_PRIO PIOS_IRQ_PRIO_LOW
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#define PIOS_BMP085_XCLR_GPIO_PORT GPIOC // Not actually connected on OP mainboard
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#define PIOS_BMP085_XCLR_GPIO_PIN GPIO_Pin_14 // Not actually connected on OP mainboard
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//#define PIOS_BMP085_OVERSAMPLING 2
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#define PIOS_BMP085_OVERSAMPLING 3
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//-------------------------
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// PIOS_USART
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//
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// See also pios_board.c
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//-------------------------
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#define PIOS_USART_MAX_DEVS 3
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#define PIOS_USART_RX_BUFFER_SIZE 512
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#define PIOS_USART_TX_BUFFER_SIZE 512
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//-------------------------
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// PIOS_COM
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//
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// See also pios_board.c
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//-------------------------
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#define PIOS_COM_MAX_DEVS 4
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extern uint32_t pios_com_telem_rf_id;
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#define PIOS_COM_TELEM_RF (pios_com_telem_rf_id)
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extern uint32_t pios_com_gps_id;
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#define PIOS_COM_GPS (pios_com_gps_id)
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extern uint32_t pios_com_telem_usb_id;
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#define PIOS_COM_TELEM_USB (pios_com_telem_usb_id)
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#ifdef PIOS_ENABLE_AUX_UART
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extern uint32_t pios_com_aux_id;
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#define PIOS_COM_AUX (pios_com_aux_id)
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#define PIOS_COM_DEBUG PIOS_COM_AUX
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#endif
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#ifdef PIOS_INCLUDE_SPEKTRUM
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extern uint32_t pios_com_spektrum_id;
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#define PIOS_COM_SPEKTRUM (pios_com_spektrum_id)
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#endif
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#ifdef PIOS_INCLUDE_SBUS
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extern uint32_t pios_com_sbus_id;
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#define PIOS_COM_SBUS (pios_com_sbus_id)
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#endif
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//-------------------------
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// Delay Timer
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//-------------------------
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#define PIOS_DELAY_TIMER TIM2
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#define PIOS_DELAY_TIMER_RCC_FUNC RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE)
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//-------------------------
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// System Settings
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//-------------------------
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#define PIOS_MASTER_CLOCK 72000000
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#define PIOS_PERIPHERAL_CLOCK (PIOS_MASTER_CLOCK / 2)
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//-------------------------
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// Interrupt Priorities
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//-------------------------
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#define PIOS_IRQ_PRIO_LOW 12 // lower than RTOS
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#define PIOS_IRQ_PRIO_MID 8 // higher than RTOS
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#define PIOS_IRQ_PRIO_HIGH 5 // for SPI, ADC, I2C etc...
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#define PIOS_IRQ_PRIO_HIGHEST 4 // for USART etc...
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//------------------------
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// PIOS_RCVR
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// See also pios_board.c
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//------------------------
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#define PIOS_RCVR_MAX_DEVS 12
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//-------------------------
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// Receiver PPM input
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//-------------------------
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#define PIOS_PPM_NUM_INPUTS 8 //Could be more if needed
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#define PIOS_PPM_SUPV_ENABLED 1
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//-------------------------
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// Receiver PWM input
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//-------------------------
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#define PIOS_PWM_NUM_INPUTS 8
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//-------------------------
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// Receiver SPEKTRUM input
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//-------------------------
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#define PIOS_SPEKTRUM_NUM_INPUTS 12
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//-------------------------
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// Servo outputs
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//-------------------------
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#define PIOS_SERVO_UPDATE_HZ 50
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#define PIOS_SERVOS_INITIAL_POSITION 0 /* dont want to start motors, have no pulse till settings loaded */
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//-------------------------
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// ADC
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// PIOS_ADC_PinGet(0) = Temperature Sensor (On-board)
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// PIOS_ADC_PinGet(1) = Power Sensor (Current)
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// PIOS_ADC_PinGet(2) = Power Sensor (Voltage)
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// PIOS_ADC_PinGet(3) = On-board 5v Rail Sensor
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// PIOS_ADC_PinGet(4) = Auxiliary Input 1
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// PIOS_ADC_PinGet(5) = Auxiliary Input 2
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// PIOS_ADC_PinGet(6) = Auxiliary Input 3
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//-------------------------
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//#define PIOS_ADC_OVERSAMPLING_RATE 1
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#define PIOS_ADC_USE_TEMP_SENSOR 1
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#define PIOS_ADC_TEMP_SENSOR_ADC ADC1
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#define PIOS_ADC_TEMP_SENSOR_ADC_CHANNEL 1
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#define PIOS_ADC_PIN1_GPIO_PORT GPIOA // PA1 (Power Sense - Voltage)
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#define PIOS_ADC_PIN1_GPIO_PIN GPIO_Pin_1 // ADC123_IN1
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#define PIOS_ADC_PIN1_GPIO_CHANNEL ADC_Channel_1
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#define PIOS_ADC_PIN1_ADC ADC1
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#define PIOS_ADC_PIN1_ADC_NUMBER 2
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#define PIOS_ADC_PIN2_GPIO_PORT GPIOC // PC3 (Power Sense - Current)
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#define PIOS_ADC_PIN2_GPIO_PIN GPIO_Pin_3 // ADC123_IN13
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#define PIOS_ADC_PIN2_GPIO_CHANNEL ADC_Channel_13
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#define PIOS_ADC_PIN2_ADC ADC2
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#define PIOS_ADC_PIN2_ADC_NUMBER 1
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#define PIOS_ADC_PIN3_GPIO_PORT GPIOC // PC5 (Onboard 5v Sensor) PC5
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#define PIOS_ADC_PIN3_GPIO_PIN GPIO_Pin_5 // ADC12_IN15
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#define PIOS_ADC_PIN3_GPIO_CHANNEL ADC_Channel_15
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#define PIOS_ADC_PIN3_ADC ADC2
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#define PIOS_ADC_PIN3_ADC_NUMBER 2
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#define PIOS_ADC_PIN4_GPIO_PORT GPIOC // PC0 (AUX 1)
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#define PIOS_ADC_PIN4_GPIO_PIN GPIO_Pin_0 // ADC123_IN10
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#define PIOS_ADC_PIN4_GPIO_CHANNEL ADC_Channel_10
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#define PIOS_ADC_PIN4_ADC ADC1
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#define PIOS_ADC_PIN4_ADC_NUMBER 3
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#define PIOS_ADC_PIN5_GPIO_PORT GPIOC // PC1 (AUX 2)
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#define PIOS_ADC_PIN5_GPIO_PIN GPIO_Pin_1 // ADC123_IN11
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#define PIOS_ADC_PIN5_GPIO_CHANNEL ADC_Channel_11
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#define PIOS_ADC_PIN5_ADC ADC2
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#define PIOS_ADC_PIN5_ADC_NUMBER 3
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#define PIOS_ADC_PIN6_GPIO_PORT GPIOC // PC2 (AUX 3)
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#define PIOS_ADC_PIN6_GPIO_PIN GPIO_Pin_2 // ADC123_IN12
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#define PIOS_ADC_PIN6_GPIO_CHANNEL ADC_Channel_12
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#define PIOS_ADC_PIN6_ADC ADC1
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#define PIOS_ADC_PIN6_ADC_NUMBER 4
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#define PIOS_ADC_NUM_PINS 6
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#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 }
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#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 }
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#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 }
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#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 }
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#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 }
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#define PIOS_ADC_NUM_CHANNELS (PIOS_ADC_NUM_PINS + PIOS_ADC_USE_TEMP_SENSOR)
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#define PIOS_ADC_NUM_ADC_CHANNELS 2
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#define PIOS_ADC_USE_ADC2 1
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#define PIOS_ADC_CLOCK_FUNCTION RCC_APB2PeriphClockCmd(RCC_APB2Periph_ADC1 | RCC_APB2Periph_ADC2, ENABLE)
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#define PIOS_ADC_ADCCLK RCC_PCLK2_Div8
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/* RCC_PCLK2_Div2: ADC clock = PCLK2/2 */
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/* RCC_PCLK2_Div4: ADC clock = PCLK2/4 */
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/* RCC_PCLK2_Div6: ADC clock = PCLK2/6 */
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/* RCC_PCLK2_Div8: ADC clock = PCLK2/8 */
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#define PIOS_ADC_SAMPLE_TIME ADC_SampleTime_239Cycles5
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/* Sample time: */
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/* With an ADCCLK = 14 MHz and a sampling time of 293.5 cycles: */
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/* Tconv = 239.5 + 12.5 = 252 cycles = 18?s */
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/* (1 / (ADCCLK / CYCLES)) = Sample Time (?S) */
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#define PIOS_ADC_IRQ_PRIO PIOS_IRQ_PRIO_LOW
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#define PIOS_ADC_MAX_OVERSAMPLING 10
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#define PIOS_ADC_RATE (72.0e6 / 1 / 8 / 252 / (PIOS_ADC_NUM_ADC_CHANNELS >> PIOS_ADC_USE_ADC2))
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//-------------------------
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// GPIO
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//-------------------------
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#define PIOS_GPIO_1_PORT GPIOC
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#define PIOS_GPIO_1_PIN GPIO_Pin_0
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#define PIOS_GPIO_1_GPIO_CLK RCC_APB2Periph_GPIOC
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#define PIOS_GPIO_2_PORT GPIOC
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#define PIOS_GPIO_2_PIN GPIO_Pin_1
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#define PIOS_GPIO_2_GPIO_CLK RCC_APB2Periph_GPIOC
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#define PIOS_GPIO_3_PORT GPIOC
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#define PIOS_GPIO_3_PIN GPIO_Pin_2
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#define PIOS_GPIO_3_GPIO_CLK RCC_APB2Periph_GPIOC
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#define PIOS_GPIO_4_PORT GPIOD
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#define PIOS_GPIO_4_PIN GPIO_Pin_2
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#define PIOS_GPIO_4_GPIO_CLK RCC_APB2Periph_GPIOD
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#define PIOS_GPIO_PORTS { PIOS_GPIO_1_PORT, PIOS_GPIO_2_PORT, PIOS_GPIO_3_PORT, PIOS_GPIO_4_PORT }
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#define PIOS_GPIO_PINS { PIOS_GPIO_1_PIN, PIOS_GPIO_2_PIN, PIOS_GPIO_3_PIN, PIOS_GPIO_4_PIN }
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#define PIOS_GPIO_CLKS { PIOS_GPIO_1_GPIO_CLK, PIOS_GPIO_2_GPIO_CLK, PIOS_GPIO_3_GPIO_CLK, PIOS_GPIO_4_GPIO_CLK }
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#define PIOS_GPIO_NUM 4
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//-------------------------
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// USB
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//-------------------------
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#define PIOS_USB_ENABLED 1
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#define PIOS_USB_DETECT_GPIO_PORT GPIOC
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#define PIOS_USB_DETECT_GPIO_PIN GPIO_Pin_4
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#define PIOS_USB_DETECT_EXTI_LINE EXTI_Line4
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#define PIOS_IRQ_USB_PRIORITY PIOS_IRQ_PRIO_MID
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#define PIOS_USB_RX_BUFFER_SIZE 512
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#define PIOS_USB_TX_BUFFER_SIZE 512
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/**
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* glue macros for file IO
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* STM32 uses DOSFS for file IO
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*/
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#define PIOS_FOPEN_READ(filename,file) DFS_OpenFile(&PIOS_SDCARD_VolInfo, (uint8_t *)filename, DFS_READ, PIOS_SDCARD_Sector, &file) != DFS_OK
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#define PIOS_FOPEN_WRITE(filename,file) DFS_OpenFile(&PIOS_SDCARD_VolInfo, (uint8_t *)filename, DFS_WRITE, PIOS_SDCARD_Sector, &file) != DFS_OK
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#define PIOS_FREAD(file,bufferadr,length,resultadr) DFS_ReadFile(file, PIOS_SDCARD_Sector, (uint8_t*)bufferadr, resultadr, length) != DFS_OK
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#define PIOS_FWRITE(file,bufferadr,length,resultadr) DFS_WriteFile(file, PIOS_SDCARD_Sector, (uint8_t*)bufferadr, resultadr, length)
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#define PIOS_FCLOSE(file) DFS_Close(&file)
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#define PIOS_FUNLINK(filename) DFS_UnlinkFile(&PIOS_SDCARD_VolInfo, (uint8_t *)filename, PIOS_SDCARD_Sector)
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#endif /* STM3210E_OP_H_ */
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/**
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* @}
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* @}
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*/
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