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https://bitbucket.org/librepilot/librepilot.git
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b0b1a42aec
Protocol version is autodetected and 12 or 16 channels are supported. SRXL is available on Flexiport of Revolution board.
325 lines
11 KiB
C
325 lines
11 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) 2012.
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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 PIOS_BOARD_H
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#define PIOS_BOARD_H
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#include <stdbool.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 | | | |
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TIM2 | --------------- PIOS_DELAY -----------------
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TIM3 | | | |
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TIM4 | | | |
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TIM5 | | | |
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TIM6 | | | |
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TIM7 | | | |
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TIM8 | | | |
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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 - */
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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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// PIOS_LED
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// ------------------------
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#define PIOS_LED_HEARTBEAT 0
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#define PIOS_LED_ALARM 1
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#ifdef PIOS_RFM22B_DEBUG_ON_TELEM
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#define PIOS_LED_D1 2
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#define PIOS_LED_D2 3
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#define PIOS_LED_D3 4
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#define PIOS_LED_D4 5
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#define D1_LED_ON PIOS_LED_On(PIOS_LED_D1)
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#define D1_LED_OFF PIOS_LED_Off(PIOS_LED_D1)
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#define D1_LED_TOGGLE PIOS_LED_Toggle(PIOS_LED_D1)
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#define D2_LED_ON PIOS_LED_On(PIOS_LED_D2)
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#define D2_LED_OFF PIOS_LED_Off(PIOS_LED_D2)
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#define D2_LED_TOGGLE PIOS_LED_Toggle(PIOS_LED_D2)
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#define D3_LED_ON PIOS_LED_On(PIOS_LED_D3)
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#define D3_LED_OFF PIOS_LED_Off(PIOS_LED_D3)
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#define D3_LED_TOGGLE PIOS_LED_Toggle(PIOS_LED_D3)
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#define D4_LED_ON PIOS_LED_On(PIOS_LED_D4)
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#define D4_LED_OFF PIOS_LED_Off(PIOS_LED_D4)
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#define D4_LED_TOGGLE PIOS_LED_Toggle(PIOS_LED_D4)
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#endif /* PIOS_RFM22B_DEBUG_ON_TELEM */
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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 3
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// ------------------------
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// PIOS_WDG
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// ------------------------
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#define PIOS_WATCHDOG_TIMEOUT 250
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#define PIOS_WDG_REGISTER RTC_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_ATTITUDE 0x0004
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#define PIOS_WDG_MANUAL 0x0008
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#define PIOS_WDG_SENSORS 0x0010
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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 3
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extern uint32_t pios_i2c_mag_pressure_adapter_id;
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#define PIOS_I2C_MAIN_ADAPTER (pios_i2c_mag_pressure_adapter_id)
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extern uint32_t pios_i2c_flexiport_adapter_id;
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#define PIOS_I2C_FLEXI_ADAPTER (pios_i2c_flexiport_adapter_id)
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#define PIOS_I2C_ETASV3_ADAPTER (PIOS_I2C_FLEXI_ADAPTER)
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#define PIOS_I2C_MS4525DO_ADAPTER (PIOS_I2C_FLEXI_ADAPTER)
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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 5
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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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extern uint32_t pios_com_rf_id;
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extern uint32_t pios_com_gps_id;
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extern uint32_t pios_com_telem_usb_id;
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extern uint32_t pios_com_bridge_id;
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extern uint32_t pios_com_vcp_id;
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extern uint32_t pios_com_hkosd_id;
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#define PIOS_COM_GPS (pios_com_gps_id)
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#define PIOS_COM_TELEM_USB (pios_com_telem_usb_id)
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#define PIOS_COM_TELEM_RF (pios_com_telem_rf_id)
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#define PIOS_COM_RF (pios_com_rf_id)
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#define PIOS_COM_BRIDGE (pios_com_bridge_id)
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#define PIOS_COM_VCP (pios_com_vcp_id)
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#define PIOS_COM_OSDHK (pios_com_hkosd_id)
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#if defined(PIOS_INCLUDE_DEBUG_CONSOLE)
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extern uint32_t pios_com_debug_id;
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#define PIOS_COM_DEBUG (pios_com_debug_id)
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#endif /* PIOS_INCLUDE_DEBUG_CONSOLE */
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#if defined(PIOS_INCLUDE_RFM22B)
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extern uint32_t pios_rfm22b_id;
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extern uint32_t pios_spi_telem_flash_id;
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#define PIOS_RFM22_SPI_PORT (pios_spi_telem_flash_id)
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#endif /* PIOS_INCLUDE_RFM22B */
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// -------------------------
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// Packet Handler
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// -------------------------
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#define RS_ECC_NPARITY 4
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#define PIOS_PH_MAX_PACKET 255
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#define PIOS_PH_WIN_SIZE 3
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#define PIOS_PH_MAX_CONNECTIONS 1
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extern uint32_t pios_packet_handler;
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#define PIOS_PACKET_HANDLER (pios_packet_handler)
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// ------------------------
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// TELEMETRY
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// ------------------------
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#define TELEM_QUEUE_SIZE 80
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#define PIOS_TELEM_STACK_SIZE 800
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// -------------------------
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// System Settings
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//
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// See also System_stm32f4xx.c
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// -------------------------
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// These macros are deprecated
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// please use PIOS_PERIPHERAL_APBx_CLOCK According to the table below
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// #define PIOS_MASTER_CLOCK
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// #define PIOS_PERIPHERAL_CLOCK
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// #define PIOS_PERIPHERAL_CLOCK
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#define PIOS_SYSCLK 168000000
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// Peripherals that belongs to APB1 are:
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// DAC |PWR |CAN1,2
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// I2C1,2,3 |UART4,5 |USART3,2
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// I2S3Ext |SPI3/I2S3 |SPI2/I2S2
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// I2S2Ext |IWDG |WWDG
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// RTC/BKP reg
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// TIM2,3,4,5,6,7,12,13,14
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// Calculated as SYSCLK / APBPresc * (APBPre == 1 ? 1 : 2)
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// Default APB1 Prescaler = 4
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#define PIOS_PERIPHERAL_APB1_CLOCK (PIOS_SYSCLK / 2)
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// Peripherals belonging to APB2
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// SDIO |EXTI |SYSCFG |SPI1
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// ADC1,2,3
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// USART1,6
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// TIM1,8,9,10,11
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//
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// Default APB2 Prescaler = 2
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//
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#define PIOS_PERIPHERAL_APB2_CLOCK PIOS_SYSCLK
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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 3
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#define PIOS_RCVR_MAX_CHANNELS 12
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#define PIOS_GCSRCVR_TIMEOUT_MS 100
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#define PIOS_RFM22B_RCVR_TIMEOUT_MS 200
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#define PIOS_OPLINK_RCVR_TIMEOUT_MS 100
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// -------------------------
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// Receiver PPM input
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// -------------------------
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#define PIOS_PPM_MAX_DEVS 1
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#define PIOS_PPM_NUM_INPUTS 12
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// -------------------------
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// Receiver PWM input
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// -------------------------
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#define PIOS_PWM_MAX_DEVS 1
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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_MAX_DEVS 2
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#define PIOS_SPEKTRUM_NUM_INPUTS 12
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// -------------------------
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// Receiver S.Bus input
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// -------------------------
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#define PIOS_SBUS_MAX_DEVS 1
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#define PIOS_SBUS_NUM_INPUTS (16 + 2)
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// -------------------------
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// Receiver Multiplex SRXL input
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// -------------------------
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#define PIOS_SRXL_MAX_DEVS 1
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#define PIOS_SRXL_NUM_INPUTS 16
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// -------------------------
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// Receiver DSM input
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// -------------------------
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#define PIOS_DSM_MAX_DEVS 2
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#define PIOS_DSM_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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#define PIOS_SERVO_BANKS 6
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// --------------------------
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// Timer controller settings
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// --------------------------
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#define PIOS_TIM_MAX_DEVS 6
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// -------------------------
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// ADC
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// PIOS_ADC_PinGet(0) = Current sensor
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// PIOS_ADC_PinGet(1) = Voltage sensor
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// PIOS_ADC_PinGet(4) = VREF
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// PIOS_ADC_PinGet(5) = Temperature sensor
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// -------------------------
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#define PIOS_DMA_PIN_CONFIG \
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{ \
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{ GPIOC, GPIO_Pin_1, ADC_Channel_11, false }, /* batt/sonar pin 3 */ \
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{ GPIOC, GPIO_Pin_2, ADC_Channel_12, false }, /* batt/sonar pin 4 */ \
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{ GPIOA, GPIO_Pin_3, ADC_Channel_3, false }, /* Servo pin 3 */ \
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{ GPIOA, GPIO_Pin_2, ADC_Channel_2, false }, /* Servo pin 4 */ \
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{ GPIOA, GPIO_Pin_1, ADC_Channel_1, false }, /* Servo pin 5 */ \
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{ GPIOA, GPIO_Pin_0, ADC_Channel_9, false }, /* Servo pin 6 */ \
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{ NULL, 0, ADC_Channel_Vrefint, false }, /* Voltage reference */ \
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{ NULL, 0, ADC_Channel_TempSensor, false }, /* Temperature sensor */ \
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}
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/* we have to do all this to satisfy the PIOS_ADC_MAX_SAMPLES define in pios_adc.h */
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/* which is annoying because this then determines the rate at which we generate buffer turnover events */
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/* the objective here is to get enough buffer space to support 100Hz averaging rate */
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#define PIOS_ADC_NUM_CHANNELS 8
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#define PIOS_ADC_MAX_OVERSAMPLING 2
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#define PIOS_ADC_USE_ADC2 0
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#define PIOS_ADC_USE_TEMP_SENSOR
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#define PIOS_ADC_TEMPERATURE_PIN 7
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// -------------------------
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// USB
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// -------------------------
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#define PIOS_USB_MAX_DEVS 1
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#define PIOS_USB_ENABLED 1 /* Should remove all references to this */
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#define PIOS_USB_HID_MAX_DEVS 1
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#endif /* PIOS_BOARD_H */
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/**
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* @}
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* @}
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*/
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