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LibrePilot/flight/pios/inc/pios_board_io.h

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/**
******************************************************************************
*
* @file pios_board_io.h
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2017.
* @brief board io setup
* --
* @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_IO_H
#define PIOS_BOARD_IO_H
#include "pios.h"
#ifdef PIOS_INCLUDE_USB
#include <pios_usb_priv.h>
#endif
#ifdef PIOS_INCLUDE_USART
#include <pios_usart_priv.h>
#endif
#ifdef PIOS_INCLUDE_PWM
#include <pios_pwm_priv.h>
#endif
#ifdef PIOS_INCLUDE_PPM
#include <pios_ppm_priv.h>
#endif
#ifdef PIOS_INCLUDE_OPENLRS
#include <pios_openlrs_priv.h>
#endif
#ifdef PIOS_INCLUDE_RCVR
extern uint32_t pios_rcvr_group_map[]; /* Receivers */
#endif
/* GPS */
#ifdef PIOS_INCLUDE_GPS
extern uint32_t pios_com_gps_id;
# define PIOS_COM_GPS (pios_com_gps_id)
# ifndef PIOS_COM_GPS_RX_BUF_LEN
# define PIOS_COM_GPS_RX_BUF_LEN 128
# endif
# ifndef PIOS_COM_GPS_TX_BUF_LEN
# define PIOS_COM_GPS_TX_BUF_LEN 32
# endif
#endif /* PIOS_INCLUDE_GPS */
/* ComUsbBridge */
extern uint32_t pios_com_bridge_id;
#define PIOS_COM_BRIDGE (pios_com_bridge_id)
#ifndef PIOS_COM_BRIDGE_RX_BUF_LEN
# define PIOS_COM_BRIDGE_RX_BUF_LEN 65
#endif
#ifndef PIOS_COM_BRIDGE_TX_BUF_LEN
# define PIOS_COM_BRIDGE_TX_BUF_LEN 12
#endif
/* USB telemetry */
extern uint32_t pios_com_telem_usb_id;
#define PIOS_COM_TELEM_USB (pios_com_telem_usb_id)
#ifndef PIOS_COM_TELEM_USB_RX_BUF_LEN
# define PIOS_COM_TELEM_USB_RX_BUF_LEN 65
#endif
#ifndef PIOS_COM_TELEM_USB_TX_BUF_LEN
#define PIOS_COM_TELEM_USB_TX_BUF_LEN 65
#endif
/* Serial port telemetry */
extern uint32_t pios_com_telem_rf_id;
#define PIOS_COM_TELEM_RF (pios_com_telem_rf_id)
#ifndef PIOS_COM_TELEM_RF_RX_BUF_LEN
# define PIOS_COM_TELEM_RF_RX_BUF_LEN 128
#endif
#ifndef PIOS_COM_TELEM_RF_TX_BUF_LEN
# define PIOS_COM_TELEM_RF_TX_BUF_LEN 128
#endif
/* RFM22B telemetry */
#ifdef PIOS_INCLUDE_RFM22B
extern uint32_t pios_rfm22b_id; /* RFM22B handle */
extern uint32_t pios_com_pri_radio_id; /* oplink primary com stream */
extern uint32_t pios_com_aux_radio_id; /* oplink aux com stream */
# define PIOS_COM_RF (pios_com_pri_radio_id)
# define PIOS_COM_PRI_RADIO (pios_com_pri_radio_id)
# define PIOS_COM_AUX_RADIO (pios_com_aux_radio_id)
# ifndef PIOS_COM_PRI_RADIO_RX_BUF_LEN
# define PIOS_COM_PRI_RADIO_RX_BUF_LEN 128
# endif
# ifndef PIOS_COM_PRI_RADIO_TX_BUF_LEN
# define PIOS_COM_PRI_RADIO_TX_BUF_LEN 128
# endif
# ifndef PIOS_COM_AUX_RADIO_RX_BUF_LEN
# define PIOS_COM_AUX_RADIO_RX_BUF_LEN 128
# endif
# ifndef PIOS_COM_AUX_RADIO_TX_BUF_LEN
# define PIOS_COM_AUX_RADIO_TX_BUF_LEN 128
# endif
#endif
#ifdef PIOS_INCLUDE_OPENLRS
extern uint32_t pios_openlrs_id; /* openlrs handle */
#endif
/* HK OSD ?? */
extern uint32_t pios_com_hkosd_id;
#define PIOS_COM_OSDHK (pios_com_hkosd_id)
#ifndef PIOS_COM_HKOSD_RX_BUF_LEN
# define PIOS_COM_HKOSD_RX_BUF_LEN 22
#endif
#ifndef PIOS_COM_HKOSD_TX_BUF_LEN
# define PIOS_COM_HKOSD_TX_BUF_LEN 22
#endif
/* MSP */
extern uint32_t pios_com_msp_id;
#define PIOS_COM_MSP (pios_com_msp_id)
#ifndef PIOS_COM_MSP_TX_BUF_LEN
# define PIOS_COM_MSP_TX_BUF_LEN 128
#endif
#ifndef PIOS_COM_MSP_RX_BUF_LEN
# define PIOS_COM_MSP_RX_BUF_LEN 64
#endif
/* MAVLink */
extern uint32_t pios_com_mavlink_id;
#define PIOS_COM_MAVLINK (pios_com_mavlink_id)
#ifndef PIOS_COM_MAVLINK_TX_BUF_LEN
# define PIOS_COM_MAVLINK_TX_BUF_LEN 128
#endif
#ifndef PIOS_COM_MAVLINK_RX_BUF_LEN
# define PIOS_COM_MAVLINK_RX_BUF_LEN 128
#endif
/* HoTT Telemetry */
#ifdef PIOS_INCLUDE_HOTT_BRIDGE
# ifndef PIOS_COM_HOTT_BRIDGE_RX_BUF_LEN
# define PIOS_COM_HOTT_BRIDGE_RX_BUF_LEN 512
# endif
# ifndef PIOS_COM_HOTT_BRIDGE_TX_BUF_LEN
# define PIOS_COM_HOTT_BRIDGE_TX_BUF_LEN 512
# endif
extern uint32_t pios_com_hott_id;
# define PIOS_COM_HOTT (pios_com_hott_id)
#endif
/* USB VCP */
extern uint32_t pios_com_vcp_id;
#define PIOS_COM_VCP (pios_com_vcp_id)
#ifdef PIOS_INCLUDE_DEBUG_CONSOLE
extern uint32_t pios_com_debug_id;
#define PIOS_COM_DEBUG (pios_com_debug_id)
#ifndef PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN
# define PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN 40
#endif
#endif /* PIOS_INCLUDE_DEBUG_CONSOLE */
#ifdef PIOS_INCLUDE_USB_RCTX
extern uint32_t pios_usb_rctx_id;
#endif /* PIOS_INCLUDE_USB_RCTX */
#if defined(PIOS_INCLUDE_HMC5X83) && defined(PIOS_HMC5X83_HAS_GPIOS)
#include <pios_hmc5x83.h>
extern pios_hmc5x83_dev_t pios_hmc5x83_internal_id;
#endif
typedef enum {
PIOS_BOARD_IO_UART_NONE = 0,
PIOS_BOARD_IO_UART_TELEMETRY, /* com */
PIOS_BOARD_IO_UART_MAVLINK, /* com */
PIOS_BOARD_IO_UART_MSP, /* com */
PIOS_BOARD_IO_UART_GPS, /* com */
PIOS_BOARD_IO_UART_COMBRIDGE, /* com */
PIOS_BOARD_IO_UART_DEBUGCONSOLE, /* com */
PIOS_BOARD_IO_UART_OSDHK, /* com */
PIOS_BOARD_IO_UART_SBUS, /* rcvr */
PIOS_BOARD_IO_UART_DSM_MAIN, /* rcvr */
PIOS_BOARD_IO_UART_DSM_FLEXI, /* rcvr */
PIOS_BOARD_IO_UART_DSM_RCVR, /* rcvr */
PIOS_BOARD_IO_UART_HOTT_SUMD, /* rcvr */
PIOS_BOARD_IO_UART_HOTT_SUMH, /* rcvr */
PIOS_BOARD_IO_UART_SRXL, /* rcvr */
PIOS_BOARD_IO_UART_IBUS, /* rcvr */
PIOS_BOARD_IO_UART_EXBUS, /* rcvr */
// PIOS_BOARD_IO_UART_FRSKY_SPORT_TELEMETRY, /* com */
PIOS_BOARD_IO_UART_HOTT_BRIDGE, /* com */
} PIOS_BOARD_IO_UART_Function;
#ifdef PIOS_INCLUDE_USB
# ifndef BOOTLOADER
# include "uavobjectmanager.h"
# include "hwsettings.h"
void PIOS_BOARD_IO_Configure_USB();
typedef enum {
PIOS_BOARD_IO_USB_HID_NONE = HWSETTINGS_USB_HIDPORT_DISABLED,
PIOS_BOARD_IO_USB_HID_TELEMETRY = HWSETTINGS_USB_HIDPORT_USBTELEMETRY,
PIOS_BOARD_IO_USB_HID_RCTX = HWSETTINGS_USB_HIDPORT_RCTRANSMITTER,
} PIOS_BOARD_IO_USB_HID_Function;
typedef enum {
PIOS_BOARD_IO_USB_VCP_NONE = HWSETTINGS_USB_VCPPORT_DISABLED,
PIOS_BOARD_IO_USB_VCP_TELEMETRY = HWSETTINGS_USB_VCPPORT_USBTELEMETRY,
PIOS_BOARD_IO_USB_VCP_COMBRIDGE = HWSETTINGS_USB_VCPPORT_COMBRIDGE,
PIOS_BOARD_IO_USB_VCP_DEBUGCONSOLE = HWSETTINGS_USB_VCPPORT_DEBUGCONSOLE,
PIOS_BOARD_IO_USB_VCP_MAVLINK = HWSETTINGS_USB_VCPPORT_MAVLINK,
} PIOS_BOARD_IO_USB_VCP_Function;
void PIOS_BOARD_IO_Configure_USB_Function(PIOS_BOARD_IO_USB_HID_Function hid_function, PIOS_BOARD_IO_USB_VCP_Function vcp_function);
# endif // ifndef BOOTLOADER
#endif // ifdef PIOS_INCLUDE_USB
#ifdef PIOS_INCLUDE_PWM
void PIOS_BOARD_IO_Configure_PWM_RCVR(const struct pios_pwm_cfg *pwm_cfg);
#endif
#ifdef PIOS_INCLUDE_PPM
void PIOS_BOARD_IO_Configure_PPM_RCVR(const struct pios_ppm_cfg *ppm_cfg);
#endif
#ifdef PIOS_INCLUDE_USART
void PIOS_BOARD_IO_Configure_UART(const struct pios_usart_cfg *usart_cfg, PIOS_BOARD_IO_UART_Function function);
void PIOS_BOARD_IO_Configure_UART_COM(const struct pios_usart_cfg *hw_config,
uint16_t rx_buf_len,
uint16_t tx_buf_len,
uint32_t *com_id);
#endif
#ifdef PIOS_INCLUDE_RFM22B
void PIOS_BOARD_IO_Configure_RFM22B();
void PIOS_BOARD_IO_Configure_RadioAuxStream(HwSettingsRadioAuxStreamOptions radioaux); /* not for OPLM */
#endif
#ifdef PIOS_INCLUDE_GCSRCVR
void PIOS_BOARD_IO_Configure_GCS_RCVR();
#endif
#endif /* PIOS_BOARD_IO_H */
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