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https://bitbucket.org/librepilot/librepilot.git
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226f095a2e
The initial baud rates of each interface are now forced in the board init code. Any modules using USARTs should have fields added to their settings object to allow the user to change the baud rate from the default by using the COM layer APIs. Developers requiring custom baud rates before the settings objects are in place should locally edit the cfg structs to specify the desired baud rates.
221 lines
8.0 KiB
C
221 lines
8.0 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 David "Buzz" Carlson (buzz@chebuzz.com)
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* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
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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 STM3210E_INS_H_
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#define STM3210E_INS_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_LED1_GPIO_PORT GPIOA
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#define PIOS_LED_LED1_GPIO_PIN GPIO_Pin_3
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#define PIOS_LED_LED1_GPIO_CLK RCC_APB2Periph_GPIOA
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#define PIOS_LED_LED2_GPIO_PORT GPIOA
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#define PIOS_LED_LED2_GPIO_PIN GPIO_Pin_2
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#define PIOS_LED_LED2_GPIO_CLK RCC_APB2Periph_GPIOA
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#define PIOS_LED_NUM 2
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#define PIOS_LED_PORTS { PIOS_LED_LED1_GPIO_PORT, PIOS_LED_LED2_GPIO_PORT }
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#define PIOS_LED_PINS { PIOS_LED_LED1_GPIO_PIN, PIOS_LED_LED2_GPIO_PIN }
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#define PIOS_LED_CLKS { PIOS_LED_LED1_GPIO_CLK, PIOS_LED_LED2_GPIO_CLK }
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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 2
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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_pres_mag_adapter_id;
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#define PIOS_I2C_MAIN_ADAPTER (pios_i2c_pres_mag_adapter_id)
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extern uint32_t pios_i2c_gyro_adapter_id;
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#define PIOS_I2C_GYRO_ADAPTER (pios_i2c_gyro_adapter_id)
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//------------------------
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// PIOS_BMP085
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//------------------------
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#define PIOS_BMP085_EOC_GPIO_PORT GPIOC
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#define PIOS_BMP085_EOC_GPIO_PIN GPIO_Pin_2
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#define PIOS_BMP085_EOC_PORT_SOURCE GPIO_PortSourceGPIOC
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#define PIOS_BMP085_EOC_PIN_SOURCE GPIO_PinSource2
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#define PIOS_BMP085_EOC_CLK RCC_APB2Periph_GPIOC
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#define PIOS_BMP085_EOC_EXTI_LINE EXTI_Line2
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#define PIOS_BMP085_EOC_IRQn EXTI15_10_IRQn
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#define PIOS_BMP085_EOC_PRIO PIOS_IRQ_PRIO_LOW
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#define PIOS_BMP085_XCLR_GPIO_PORT GPIOC
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#define PIOS_BMP085_XCLR_GPIO_PIN GPIO_Pin_1
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#define PIOS_BMP085_OVERSAMPLING 3
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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 2
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#define PIOS_USART_RX_BUFFER_SIZE 256
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#define PIOS_USART_TX_BUFFER_SIZE 256
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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 2
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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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#ifdef PIOS_ENABLE_AUX_UART
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extern uint32_t pios_com_aux_id;
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#define PIOS_COM_AUX (pios_com_aux_id)
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#define PIOS_COM_DEBUG PIOS_COM_AUX
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#endif
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//-------------------------
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// Delay Timer
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//-------------------------
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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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//-------------------------
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// System Settings
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//-------------------------
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#define PIOS_MASTER_CLOCK 72000000
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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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//-------------------------
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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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// ADC
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// None.
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//-------------------------
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//-------------------------
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// GPIO
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// Not used, but pios_gpio.c expects something
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//-------------------------
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#define PIOS_GPIO_1_PORT GPIOA
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#define PIOS_GPIO_1_PIN GPIO_Pin_1
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#define PIOS_GPIO_1_GPIO_CLK RCC_APB2Periph_GPIOA
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#define PIOS_GPIO_PORTS { PIOS_GPIO_1_PORT }
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#define PIOS_GPIO_PINS { PIOS_GPIO_1_PIN }
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#define PIOS_GPIO_CLKS { PIOS_GPIO_1_GPIO_CLK }
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#define PIOS_GPIO_NUM 1
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#define PIOS_BMA_ENABLE PIOS_SPI_RC_PinSet(PIOS_SPI_ACCEL,0)
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#define PIOS_BMA_DISABLE PIOS_SPI_RC_PinSet(PIOS_SPI_ACCEL,1)
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//------------------------
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// PIOS_HMC5883
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//------------------------
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#define PIOS_HMC5883_DRDY_GPIO_PORT GPIOB
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#define PIOS_HMC5883_DRDY_GPIO_PIN GPIO_Pin_8
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#define PIOS_HMC5883_DRDY_PORT_SOURCE GPIO_PortSourceGPIOB
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#define PIOS_HMC5883_DRDY_PIN_SOURCE GPIO_PinSource8
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#define PIOS_HMC5883_DRDY_CLK RCC_APB2Periph_GPIOB
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#define PIOS_HMC5883_DRDY_EXTI_LINE EXTI_Line8
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#define PIOS_HMC5883_DRDY_IRQn EXTI9_5_IRQn
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#define PIOS_HMC5883_DRDY_PRIO PIOS_IRQ_PRIO_LOW
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//------------------------
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// PIOS_IMU3000
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//------------------------
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#define PIOS_IMU3000_INT_GPIO_PORT GPIOB
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#define PIOS_IMU3000_INT_GPIO_PIN GPIO_Pin_1
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#define PIOS_IMU3000_INT_PORT_SOURCE GPIO_PortSourceGPIOB
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#define PIOS_IMU3000_INT_PIN_SOURCE GPIO_PinSource1
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#define PIOS_IMU3000_INT_CLK RCC_APB2Periph_GPIOB
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#define PIOS_IMU3000_INT_EXTI_LINE EXTI_Line1
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#define PIOS_IMU3000_INT_IRQn EXTI1_IRQn
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#define PIOS_IMU3000_INT_PRIO PIOS_IRQ_PRIO_HIGH
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#endif /* STM3210E_INS_H_ */
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/**
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* @}
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* @}
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*/
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