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