mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-12-04 12:24:11 +01:00
216 lines
6.3 KiB
C
216 lines
6.3 KiB
C
/**
|
|
******************************************************************************
|
|
*
|
|
* @file pios_board.h
|
|
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2017.
|
|
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
|
*
|
|
* @brief Defines board hardware for the tinyFISH board
|
|
* @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_H
|
|
#define PIOS_BOARD_H
|
|
|
|
// ------------------------
|
|
// BOOTLOADER_SETTINGS
|
|
// ------------------------
|
|
#define BOARD_READABLE true
|
|
#define BOARD_WRITABLE true
|
|
#define MAX_DEL_RETRYS 3
|
|
|
|
// ------------------------
|
|
// WATCHDOG_SETTINGS
|
|
// ------------------------
|
|
#define PIOS_WATCHDOG_TIMEOUT 250
|
|
#define PIOS_WDG_REGISTER RTC_BKP_DR4
|
|
#define PIOS_WDG_ACTUATOR 0x0001
|
|
#define PIOS_WDG_STABILIZATION 0x0002
|
|
#define PIOS_WDG_ATTITUDE 0x0004
|
|
#define PIOS_WDG_MANUAL 0x0008
|
|
#define PIOS_WDG_AUTOTUNE 0x0010
|
|
#define PIOS_WDG_SENSORS 0x0020
|
|
|
|
|
|
// ------------------------
|
|
// TELEMETRY
|
|
// ------------------------
|
|
#define TELEM_QUEUE_SIZE 10
|
|
|
|
// ------------------------
|
|
// PIOS_LED
|
|
// ------------------------
|
|
#define PIOS_LED_HEARTBEAT 0
|
|
#define PIOS_LED_ALARM 1
|
|
#define PIOS_LED_BUZZER 2
|
|
|
|
// -------------------------
|
|
// System Settings
|
|
// -------------------------
|
|
#define PIOS_MASTER_CLOCK 72000000
|
|
|
|
// -------------------------
|
|
// Interrupt Priorities
|
|
// -------------------------
|
|
#define PIOS_IRQ_PRIO_LOW 12 // lower than RTOS
|
|
#define PIOS_IRQ_PRIO_MID 8 // higher than RTOS
|
|
#define PIOS_IRQ_PRIO_HIGH 5 // for SPI, ADC, I2C etc...
|
|
#define PIOS_IRQ_PRIO_HIGHEST 4 // for USART etc...
|
|
// ------------------------
|
|
// PIOS_I2C
|
|
// See also pios_board.c
|
|
// ------------------------
|
|
#define PIOS_I2C_MAX_DEVS 0
|
|
|
|
// -------------------------
|
|
// SPI
|
|
//
|
|
// See also pios_board.c
|
|
// -------------------------
|
|
#define PIOS_SPI_MAX_DEVS 2
|
|
extern uint32_t pios_spi1_id;
|
|
#define PIOS_SPI_MPU6000_ADAPTER (pios_spi1_id)
|
|
|
|
// -------------------------
|
|
// PIOS_USART
|
|
// -------------------------
|
|
#define PIOS_USART_MAX_DEVS 3
|
|
|
|
// -------------------------
|
|
// PIOS_COM
|
|
//
|
|
// See also pios_board.c
|
|
// -------------------------
|
|
#define PIOS_COM_MAX_DEVS 3
|
|
|
|
|
|
#ifdef PIOS_INCLUDE_WS2811
|
|
extern uint32_t pios_ws2811_id;
|
|
#define PIOS_WS2811_DEVICE (pios_ws2811_id)
|
|
#endif
|
|
|
|
// -------------------------
|
|
// ADC
|
|
// PIOS_ADC_PinGet(0) = Current sensor
|
|
// PIOS_ADC_PinGet(1) = Battery voltage
|
|
// -------------------------
|
|
#define PIOS_DMA_PIN_CONFIG \
|
|
{ \
|
|
{ GPIOB, GPIO_Pin_0, ADC_Channel_12, false }, /* ADC_2 / Current */ \
|
|
{ GPIOB, GPIO_Pin_1, ADC_Channel_1, false }, /* ADC_1 / Voltage */ \
|
|
}
|
|
|
|
/* we have to do all this to satisfy the PIOS_ADC_MAX_SAMPLES define in pios_adc.h */
|
|
/* which is annoying because this then determines the rate at which we generate buffer turnover events */
|
|
/* the objective here is to get enough buffer space to support 100Hz averaging rate */
|
|
#define PIOS_ADC_NUM_CHANNELS 2
|
|
#define PIOS_ADC_MAX_OVERSAMPLING 32
|
|
|
|
// #define PIOS_ADC_USE_TEMP_SENSOR
|
|
// #define PIOS_ADC_TEMPERATURE_PIN 4
|
|
|
|
#define PIOS_ADC_CURRENT_PIN 0
|
|
#define PIOS_ADC_VOLTAGE_PIN 1
|
|
|
|
// ------------------------
|
|
// PIOS_RCVR
|
|
// See also pios_board.c
|
|
// ------------------------
|
|
#define PIOS_RCVR_MAX_DEVS 3
|
|
#define PIOS_RCVR_MAX_CHANNELS 12
|
|
#define PIOS_GCSRCVR_TIMEOUT_MS 100
|
|
|
|
// -------------------------
|
|
// Receiver PPM input
|
|
// -------------------------
|
|
#define PIOS_PPM_MAX_DEVS 1
|
|
#define PIOS_PPM_NUM_INPUTS 16
|
|
|
|
// -------------------------
|
|
// Receiver PWM input
|
|
// -------------------------
|
|
#define PIOS_PWM_MAX_DEVS 1
|
|
#define PIOS_PWM_NUM_INPUTS 6
|
|
|
|
// -------------------------
|
|
// Receiver DSM input
|
|
// -------------------------
|
|
#define PIOS_DSM_MAX_DEVS 2
|
|
#define PIOS_DSM_NUM_INPUTS 12
|
|
|
|
// -------------------------
|
|
// Receiver S.Bus input
|
|
// -------------------------
|
|
#define PIOS_SBUS_MAX_DEVS 1
|
|
#define PIOS_SBUS_NUM_INPUTS (16 + 2)
|
|
|
|
// -------------------------
|
|
// Receiver HOTT input
|
|
// -------------------------
|
|
#define PIOS_HOTT_MAX_DEVS 1
|
|
#define PIOS_HOTT_NUM_INPUTS 32
|
|
|
|
// -------------------------
|
|
// Receiver EX.Bus input
|
|
// -------------------------
|
|
#define PIOS_EXBUS_MAX_DEVS 1
|
|
#define PIOS_EXBUS_NUM_INPUTS 16
|
|
|
|
// -------------------------
|
|
// Receiver Multiplex SRXL input
|
|
// -------------------------
|
|
#define PIOS_SRXL_MAX_DEVS 1
|
|
#define PIOS_SRXL_NUM_INPUTS 16
|
|
|
|
// -------------------------
|
|
// Receiver FlySky IBus input
|
|
// -------------------------
|
|
#define PIOS_IBUS_MAX_DEVS 1
|
|
#define PIOS_IBUS_NUM_INPUTS 10
|
|
|
|
// -------------------------
|
|
// Servo outputs
|
|
// -------------------------
|
|
#define PIOS_SERVO_UPDATE_HZ 50
|
|
#define PIOS_SERVOS_INITIAL_POSITION 0 /* dont want to start motors, have no pulse till settings loaded */
|
|
#define PIOS_SERVO_BANKS 6
|
|
|
|
// --------------------------
|
|
// Timer controller settings
|
|
// --------------------------
|
|
#define PIOS_TIM_MAX_DEVS 3
|
|
|
|
// -------------------------
|
|
// GPIO
|
|
// -------------------------
|
|
#define PIOS_GPIO_PORTS {}
|
|
#define PIOS_GPIO_PINS {}
|
|
#define PIOS_GPIO_CLKS {}
|
|
#define PIOS_GPIO_NUM 0
|
|
|
|
// -------------------------
|
|
// USB
|
|
// -------------------------
|
|
#define PIOS_USB_HID_MAX_DEVS 1
|
|
|
|
#define PIOS_USB_ENABLED 1
|
|
#define PIOS_USB_MAX_DEVS 1
|
|
|
|
#endif /* PIOS_BOARD_H */
|