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304 lines
10 KiB
C
304 lines
10 KiB
C
/**
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******************************************************************************
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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 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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Timer | Channel 1 | Channel 2 | Channel 3 | Channel 4
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------+------------+------------+------------+------------
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TIM1 | DELAY |
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TIM2 | | PPM Output | PPM Input |
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TIM3 | TIMER INTERRUPT |
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TIM4 | STOPWATCH |
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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 - */
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/* Channel 3 - */
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/* Channel 4 - */
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/* Channel 5 - */
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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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// 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 108000000
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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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// 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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// System Settings
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#define PIOS_MASTER_CLOCK 108000000ul
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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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#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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// WATCHDOG_SETTINGS
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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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// *****************************************************************
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// PIOS_LED
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#define PIOS_LED_HEARTBEAT 0
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#define PIOS_LED_ALARM 1
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// *****************************************************************
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// Delay Timer
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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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#define PIOS_DELAY_TIMER TIM1
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#define PIOS_DELAY_TIMER_RCC_FUNC RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE)
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// *****************************************************************
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// Timer interrupt
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/*#define TIMER_INT_TIMER TIM3
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#define TIMER_INT_FUNC TIM3_IRQHandler
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#define TIMER_INT_PRIORITY 2
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// *****************************************************************
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// Stop watch timer
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#define STOPWATCH_TIMER TIM4*/
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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 1
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extern uint32_t pios_spi_port_id;
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#define PIOS_SPI_PORT (pios_spi_port_id)
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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 5
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extern uint32_t pios_com_telem_rf_id;
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extern uint32_t pios_com_gps_id;
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extern uint32_t pios_com_aux_id;
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extern uint32_t pios_com_telem_usb_id;
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#define PIOS_COM_AUX (pios_com_aux_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_DEBUG PIOS_COM_AUX
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#define PIOS_COM_OSD (pios_com_aux_id)
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//extern uint32_t pios_com_serial_id;
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//#define PIOS_COM_SERIAL (pios_com_serial_id)
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//#define PIOS_COM_DEBUG PIOS_COM_SERIAL // uncomment this to send debug info out the serial port
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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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#if defined(PIOS_INCLUDE_USB_HID)
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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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#endif
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#if defined(PIOS_COM_DEBUG)
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// #define DEBUG_PRINTF(...) PIOS_COM_SendFormattedString(PIOS_COM_DEBUG, __VA_ARGS__)
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#define DEBUG_PRINTF(...) PIOS_COM_SendFormattedStringNonBlocking(PIOS_COM_DEBUG, __VA_ARGS__)
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#else
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#define DEBUG_PRINTF(...)
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#endif
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// *****************************************************************
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// ADC
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//-------------------------
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// ADC
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// PIOS_ADC_PinGet(0) = External voltage
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// PIOS_ADC_PinGet(1) = AUX1 (PX2IO external pressure port)
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// PIOS_ADC_PinGet(2) = AUX2 (Current sensor, if available)
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// PIOS_ADC_PinGet(3) = AUX3
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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_0, ADC_Channel_10}, \
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{GPIOC, GPIO_Pin_1, ADC_Channel_11}, \
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{GPIOC, GPIO_Pin_2, ADC_Channel_12}, \
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{GPIOC, GPIO_Pin_3, ADC_Channel_13}, \
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{GPIOA, GPIO_Pin_7, ADC_Channel_7}, \
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{NULL, 0, ADC_Channel_Vrefint}, /* Voltage reference */\
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{NULL, 0, ADC_Channel_TempSensor} /* 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 7
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#define PIOS_ADC_MAX_OVERSAMPLING 10
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#define PIOS_ADC_USE_ADC2 0
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// *****************************************************************
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// USB
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#if defined(PIOS_INCLUDE_USB_HID)
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#define PIOS_USB_ENABLED 1
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#define PIOS_USB_DETECT_GPIO_PORT GPIO_IN_2_PORT
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#define PIOS_USB_DETECT_GPIO_PIN GPIO_IN_2_PIN
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#define PIOS_USB_DETECT_EXTI_LINE EXTI_Line4
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#define PIOS_IRQ_USB_PRIORITY 8
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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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#endif
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// *****************************************************************
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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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// 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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//------------------------
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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_flexiport_adapter_id;
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#define PIOS_I2C_MAIN_ADAPTER (pios_i2c_flexiport_adapter_id)
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#define PIOS_I2C_ESC_ADAPTER (pios_i2c_flexiport_adapter_id)
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#define PIOS_I2C_BMP085_ADAPTER (pios_i2c_flexiport_adapter_id)
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//------------------------
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// PIOS_BMP085
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//------------------------
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#define PIOS_BMP085_OVERSAMPLING 3
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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 /* PIOS_BOARD_H */
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