mirror of
https://bitbucket.org/librepilot/librepilot.git
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3b32b89839
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@146 ebee16cc-31ac-478f-84a7-5cbb03baadba
269 lines
9.3 KiB
C
269 lines
9.3 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 0.1 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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//------------------------
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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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// Leds Definition
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//------------------------
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#define LED1_GPIO_PORT GPIOC
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#define LED1_GPIO_PIN GPIO_Pin_12
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#define LED1_GPIO_CLK RCC_APB2Periph_GPIOC
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#define LED2_GPIO_PORT GPIOC
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#define LED2_GPIO_PIN GPIO_Pin_13
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#define LED2_GPIO_CLK RCC_APB2Periph_GPIOC
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#define NUM_LED 2
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//------------------------
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// I2C
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//------------------------
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#define I2C_GPIO_PORT GPIOB
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#define I2C_SDA_PIN GPIO_Pin_11
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#define I2C_SCL_PIN GPIO_Pin_10
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#define I2C_DUTY_CYCLE I2C_DutyCycle_2
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#define I2C_BUS_FREQUENCY 400000
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#define I2C_TIMEOUT_VALUE 5000
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#define IRQ_I2C_EV_PRIORITY 2
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#define IRQ_I2C_ER_PRIORITY 2
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//------------------------
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// Onboard Pressure sensor
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//------------------------
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#define BMP085_EOC_GPIO_PORT GPIOC
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#define BMP085_EOC_GPIO_PIN GPIO_Pin_15
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#define BMP085_EOC_PORT_SOURCE GPIO_PortSourceGPIOG
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#define BMP085_EOC_PIN_SOURCE GPIO_PinSource8
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#define BMP085_EOC_CLK RCC_APB2Periph_GPIOC
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#define BMP085_EOC_EXTI_LINE EXTI_Line15
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#define BMP085_EOC_IRQn EXTI15_10_IRQn
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/* Unused, repurpose PA1 as another ADC input?
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#define BMP085_XCLR_GPIO_PORT GPIOA
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#define BMP085_XCLR_GPIO_PIN GPIO_Pin_1
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*/
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//-------------------------
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// GPS USART
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//-------------------------
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#define GPS_USART USART2
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#define GPS_GPIO_PORT GPIOA
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#define GPS_RX_PIN GPIO_Pin_3
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#define GPS_TX_PIN GPIO_Pin_2
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#define GPS_REMAP_FUNC { }
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#define GPS_IRQ_CHANNEL USART2_IRQn
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#define GPS_IRQHANDLER_FUNC void USART2_IRQHandler(void)
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#define GPS_CLK_FUNC RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART2, ENABLE)
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#define GPS_NVIC_PRIO IRQ_PRIO_HIGHEST
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//-------------------------
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// Telemetry radio USART
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//-------------------------
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#define TELEM_USART USART3
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#define TELEM_GPIO_PORT GPIOC
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#define TELEM_RX_PIN GPIO_Pin_11
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#define TELEM_TX_PIN GPIO_Pin_10
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#define TELEM_REMAP_FUNC { GPIO_PinRemapConfig(GPIO_PartialRemap_USART3, ENABLE); }
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#define TELEM_IRQ_CHANNEL USART3_IRQn
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#define TELEM_IRQHANDLER_FUNC void USART3_IRQHandler(void)
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#define TELEM_CLK_FUNC RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART3, ENABLE)
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#define TELEM_NVIC_PRIO IRQ_PRIO_HIGHEST
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//-------------------------
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// AUXSER USART (available instead of RX5/RX6)
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//-------------------------
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#define AUX_USART_USART USART1
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#define AUX_USART_GPIO_PORT GPIOA
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#define AUX_USART_RX_PIN GPIO_Pin_10
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#define AUX_USART_TX_PIN GPIO_Pin_9
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#define AUX_USART_REMAP_FUNC { }
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#define AUX_USART_IRQ_CHANNEL USART1_IRQn
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#define AUX_USART_IRQHANDLER_FUNC void USART1_IRQHandler(void)
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#define AUX_USART_CLK_FUNC RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1, ENABLE)
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#define AUX_USART_NVIC_PRIO IRQ_PRIO_HIGH
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//-------------------------
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// USART Serial Ports
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//-------------------------
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#define USART_NUM 3
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#define USART_RX_BUFFER_SIZE 1024
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#define USART_TX_BUFFER_SIZE 256
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#define COM_DEBUG_PORT GPS
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//-------------------------
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// SPI
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//-------------------------
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#define PIOS_IRQ_SPI_DMA_PRIORITY IRQ_PRIO_HIGH
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#define PIOS_SPI0_PTR SPI1
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#define PIOS_SPI0_DMA_RX_PTR DMA1_Channel2
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#define PIOS_SPI0_DMA_TX_PTR DMA1_Channel3
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#define PIOS_SPI0_DMA_RX_IRQ_FLAGS (DMA1_FLAG_TC2 | DMA1_FLAG_TE2 | DMA1_FLAG_HT2 | DMA1_FLAG_GL2)
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#define PIOS_SPI0_DMA_IRQ_CHANNEL DMA1_Channel2_IRQn
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#define PIOS_SPI0_DMA_IRQHANDLER_FUNC void DMA1_Channel2_IRQHandler(void)
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#define PIOS_SPI0_RCLK1_PORT GPIOA
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#define PIOS_SPI0_RCLK1_PIN GPIO_Pin_4
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#define PIOS_SPI0_SCLK_PORT GPIOA
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#define PIOS_SPI0_SCLK_PIN GPIO_Pin_5
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#define PIOS_SPI0_MISO_PORT GPIOA
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#define PIOS_SPI0_MISO_PIN GPIO_Pin_6
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#define PIOS_SPI0_MOSI_PORT GPIOA
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#define PIOS_SPI0_MOSI_PIN GPIO_Pin_7
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#define PIOS_SPI1_PTR SPI2
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#define PIOS_SPI1_DMA_RX_PTR DMA1_Channel4
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#define PIOS_SPI1_DMA_TX_PTR DMA1_Channel5
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#define PIOS_SPI1_DMA_RX_IRQ_FLAGS (DMA1_FLAG_TC4 | DMA1_FLAG_TE4 | DMA1_FLAG_HT4 | DMA1_FLAG_GL4)
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#define PIOS_SPI1_DMA_IRQ_CHANNEL DMA1_Channel4_IRQn
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#define PIOS_SPI1_DMA_IRQHANDLER_FUNC void DMA1_Channel4_IRQHandler(void)
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#define PIOS_SPI1_RCLK1_PORT GPIOB
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#define PIOS_SPI1_RCLK1_PIN GPIO_Pin_12
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#define PIOS_SPI1_SCLK_PORT GPIOB
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#define PIOS_SPI1_SCLK_PIN GPIO_Pin_13
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#define PIOS_SPI1_MISO_PORT GPIOB
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#define PIOS_SPI1_MISO_PIN GPIO_Pin_14
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#define PIOS_SPI1_MOSI_PORT GPIOB
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#define PIOS_SPI1_MOSI_PIN GPIO_Pin_15
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//-------------------------
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// SDCard
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//-------------------------
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#define PIOS_SDCARD_SPI 0
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//-------------------------
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// Receiver PWM inputs
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//-------------------------
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#define RECEIVER1_GPIO_PORT GPIOB
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#define RECEIVER1_PIN GPIO_Pin_0 // PB0
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#define RECEIVER1_TIM_PORT TIM3
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#define RECEIVER1_CH TIM_Channel_3 // TIM3_CH3
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#define RECEIVER2_GPIO_PORT GPIOB
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#define RECEIVER2_PIN GPIO_Pin_1 // PB1
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#define RECEIVER2_TIM_PORT TIM3
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#define RECEIVER2_CH TIM_Channel_4 // TIM3_CH4
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#define RECEIVER3_GPIO_PORT GPIOA
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#define RECEIVER3_PIN GPIO_Pin_8 // PA8
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#define RECEIVER3_TIM_PORT TIM1
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#define RECEIVER3_CH TIM_Channel_1 // TIM1_CH1
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#define RECEIVER4_GPIO_PORT GPIOA
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#define RECEIVER4_PIN GPIO_Pin_0 // PA0
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#define RECEIVER4_TIM_PORT TIM5
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#define RECEIVER4_CH TIM_Channel_1 // TIM5_CH1
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#define RECEIVER5_GPIO_PORT GPIOA
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#define RECEIVER5_PIN GPIO_Pin_10 // PA10
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#define RECEIVER5_TIM_PORT TIM1
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#define RECEIVER5_CH TIM_Channel_3 // TIM1_CH3
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#define RECEIVER6_GPIO_PORT GPIOA
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#define RECEIVER6_PIN GPIO_Pin_9 // PA9
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#define RECEIVER6_TIM_PORT TIM1
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#define RECEIVER6_CH TIM_Channel_2 // TIM1_CH2
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/* Not used in v0.1 HW
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#define RECEIVER7_GPIO_PORT GPIOB
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#define RECEIVER7_PIN GPIO_Pin_4 // PB4
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#define RECEIVER7_TIM_PORT TIM3
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#define RECEIVER7_CH TIM_Channel_1 // TIM3_CH1
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#define RECEIVER8_GPIO_PORT GPIOB
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#define RECEIVER8_PIN GPIO_Pin_5 // PB5
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#define RECEIVER8_TIM_PORT TIM3
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#define RECEIVER8_CH TIM_Channel_2 // TIM3_CH2
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*/
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#define NUM_RECEIVER_INPUTS 6
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//-------------------------
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// Servo outputs
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//-------------------------
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#define SERVO1TO4_PORT GPIOB
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#define SERVO1_PIN GPIO_Pin_6
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#define SERVO2_PIN GPIO_Pin_7
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#define SERVO3_PIN GPIO_Pin_8
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#define SERVO4_PIN GPIO_Pin_9
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#define SERVO5TO8_PORT GPIOC
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#define SERVO5_PIN GPIO_Pin_6
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#define SERVO6_PIN GPIO_Pin_7
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#define SERVO7_PIN GPIO_Pin_8
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#define SERVO8_PIN GPIO_Pin_9
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#define NUM_SERVO_OUTPUTS 8
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//-------------------------
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// ADC
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//-------------------------
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#define ADC_GPIO_PORT GPIOC
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#define ADC_Z_PIN GPIO_Pin_0 // ADC123_IN10
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#define ADC_A_PIN GPIO_Pin_1 // ADC123_IN11
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#define ADC_B_PIN GPIO_Pin_2 // ADC123_IN12
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#define ADC_Z_CHANNEL ADC_Channel_10
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#define ADC_A_CHANNEL ADC_Channel_11
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#define ADC_B_CHANNEL ADC_Channel_12
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#define NUM_ADC_PINS 4 // 3 but actually 4 because of temp sensor
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#define ADC_IRQ_PRIO IRQ_PRIO_HIGH
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//-------------------------
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// USB
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//-------------------------
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#define USB_ACC_GPIO_PORT GPIOC
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#define USB_DETECT_PIN GPIO_Pin_4
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#define USB_PULLUP_PIN GPIO_Pin_14
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#define PIOS_IRQ_USB_PRIORITY IRQ_PRIO_MID
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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 RCC_APB1Periph_TIM2
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//-------------------------
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// Master Clock
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//-------------------------
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#define MASTER_CLOCK 72000000
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#define PERIPHERAL_CLOCK (MASTER_CLOCK/2)
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//-------------------------
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// Interrupt Priorities
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//-------------------------
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#define IRQ_PRIO_LOW 12 // lower than RTOS
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#define IRQ_PRIO_MID 8 // higher than RTOS
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#define IRQ_PRIO_HIGH 5 // for SPI, ADC, I2C etc...
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#define IRQ_PRIO_HIGHEST 4 // for USART etc...
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#endif /* PIOS_BOARD_H */
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