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5f8760a55c
This allows the spektrum and sbus receiver drivers to bind directly to the usart layer using a properly exported API rather than overriding the interrupt handler. Bytes are now pushed directly from the usart layer into the com layer without any buffering. The com layer performs all of the buffering. A further benefit from this approach is that we can put all blocking/non-blocking behaviour into the COM layer and not in the underlying drivers. Misc related changes: - Remove obsolete .handler field from irq configs - Adapt all users of PIOS_COM_* functions to new API - Fixup callers of PIOS_USB_HID_Init()
252 lines
9.6 KiB
C
252 lines
9.6 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 STM32103CB_AHRS_H_
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#define STM32103CB_AHRS_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 - */
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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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// 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_NUM 1
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#define PIOS_LED_PORTS { PIOS_LED_LED1_GPIO_PORT }
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#define PIOS_LED_PINS { PIOS_LED_LED1_GPIO_PIN }
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#define PIOS_LED_CLKS { PIOS_LED_LED1_GPIO_CLK }
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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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// 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_main_adapter_id;
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#define PIOS_I2C_MAIN_ADAPTER (pios_i2c_main_adapter_id)
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//-------------------------
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// SPI
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//
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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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//-------------------------
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// PIOS_USART
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//-------------------------
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#define PIOS_USART_MAX_DEVS 2
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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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#define PIOS_COM_RX_BUFFER_SIZE 256
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#define PIOS_COM_TX_BUFFER_SIZE 256
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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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//-------------------------
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// ADC
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// PIOS_ADC_PinGet(0) = Accel Z
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// PIOS_ADC_PinGet(2) = Accel Y
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// PIOS_ADC_PinGet(4) = Accel X
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// PIOS_ADC_PinGet(1) = Gyro X
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// PIOS_ADC_PinGet(3) = Gyro Y
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// PIOS_ADC_PinGet(5) = Gyro Z
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// PIOS_ADC_PinGet(6) = XY Temp
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// PIOS_ADC_PinGet(7) = Z Temp
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//-------------------------
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//#define PIOS_ADC_OVERSAMPLING_RATE 1
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#define PIOS_ADC_USE_TEMP_SENSOR 0
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#define PIOS_ADC_TEMP_SENSOR_ADC ADC1
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#define PIOS_ADC_TEMP_SENSOR_ADC_CHANNEL 1
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#define PIOS_ADC_PIN1_GPIO_PORT GPIOA // PA2 (Accel X)
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#define PIOS_ADC_PIN1_GPIO_PIN GPIO_Pin_2 // ADC12_IN2
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#define PIOS_ADC_PIN1_GPIO_CHANNEL ADC_Channel_2
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#define PIOS_ADC_PIN1_ADC ADC1
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#define PIOS_ADC_PIN1_ADC_NUMBER 1
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#define PIOS_ADC_PIN2_GPIO_PORT GPIOA // PA1 (Accel Y)
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#define PIOS_ADC_PIN2_GPIO_PIN GPIO_Pin_1 // ADC123_IN1
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#define PIOS_ADC_PIN2_GPIO_CHANNEL ADC_Channel_1
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#define PIOS_ADC_PIN2_ADC ADC1
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#define PIOS_ADC_PIN2_ADC_NUMBER 2
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#define PIOS_ADC_PIN3_GPIO_PORT GPIOA // PA0 (Accel Z)
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#define PIOS_ADC_PIN3_GPIO_PIN GPIO_Pin_0 // ADC12_IN0
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#define PIOS_ADC_PIN3_GPIO_CHANNEL ADC_Channel_0
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#define PIOS_ADC_PIN3_ADC ADC1
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#define PIOS_ADC_PIN3_ADC_NUMBER 3
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#define PIOS_ADC_PIN4_GPIO_PORT GPIOA // PA6 (Temp_XY)
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#define PIOS_ADC_PIN4_GPIO_PIN GPIO_Pin_6 // ADC12_IN6
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#define PIOS_ADC_PIN4_GPIO_CHANNEL ADC_Channel_6
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#define PIOS_ADC_PIN4_ADC ADC1
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#define PIOS_ADC_PIN4_ADC_NUMBER 4
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#define PIOS_ADC_PIN5_GPIO_PORT GPIOA // PA4 (Gyro X)
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#define PIOS_ADC_PIN5_GPIO_PIN GPIO_Pin_4 // ADC12_IN4
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#define PIOS_ADC_PIN5_GPIO_CHANNEL ADC_Channel_4
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#define PIOS_ADC_PIN5_ADC ADC2
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#define PIOS_ADC_PIN5_ADC_NUMBER 1
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#define PIOS_ADC_PIN6_GPIO_PORT GPIOA // PA5 (Gyro Y)
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#define PIOS_ADC_PIN6_GPIO_PIN GPIO_Pin_5 // ADC12_IN5
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#define PIOS_ADC_PIN6_GPIO_CHANNEL ADC_Channel_5
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#define PIOS_ADC_PIN6_ADC ADC2
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#define PIOS_ADC_PIN6_ADC_NUMBER 2
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#define PIOS_ADC_PIN7_GPIO_PORT GPIOA // PA7 (Gyro Z)
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#define PIOS_ADC_PIN7_GPIO_PIN GPIO_Pin_7 // ADC12_IN7
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#define PIOS_ADC_PIN7_GPIO_CHANNEL ADC_Channel_7
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#define PIOS_ADC_PIN7_ADC ADC2
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#define PIOS_ADC_PIN7_ADC_NUMBER 3
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#define PIOS_ADC_PIN8_GPIO_PORT GPIOB // PB1 (Z Temp)
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#define PIOS_ADC_PIN8_GPIO_PIN GPIO_Pin_1 // ADC12_IN9
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#define PIOS_ADC_PIN8_GPIO_CHANNEL ADC_Channel_9
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#define PIOS_ADC_PIN8_ADC ADC2
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#define PIOS_ADC_PIN8_ADC_NUMBER 4
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#define PIOS_ADC_NUM_PINS 8
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#define PIOS_ADC_PORTS { PIOS_ADC_PIN1_GPIO_PORT, PIOS_ADC_PIN2_GPIO_PORT, PIOS_ADC_PIN3_GPIO_PORT, PIOS_ADC_PIN4_GPIO_PORT, PIOS_ADC_PIN5_GPIO_PORT, PIOS_ADC_PIN6_GPIO_PORT, PIOS_ADC_PIN7_GPIO_PORT, PIOS_ADC_PIN8_GPIO_PORT }
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#define PIOS_ADC_PINS { PIOS_ADC_PIN1_GPIO_PIN, PIOS_ADC_PIN2_GPIO_PIN, PIOS_ADC_PIN3_GPIO_PIN, PIOS_ADC_PIN4_GPIO_PIN, PIOS_ADC_PIN5_GPIO_PIN, PIOS_ADC_PIN6_GPIO_PIN, PIOS_ADC_PIN7_GPIO_PIN, PIOS_ADC_PIN8_GPIO_PIN }
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#define PIOS_ADC_CHANNELS { PIOS_ADC_PIN1_GPIO_CHANNEL, PIOS_ADC_PIN2_GPIO_CHANNEL, PIOS_ADC_PIN3_GPIO_CHANNEL, PIOS_ADC_PIN4_GPIO_CHANNEL, PIOS_ADC_PIN5_GPIO_CHANNEL, PIOS_ADC_PIN6_GPIO_CHANNEL, PIOS_ADC_PIN7_GPIO_CHANNEL, PIOS_ADC_PIN8_GPIO_CHANNEL }
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#define PIOS_ADC_MAPPING { PIOS_ADC_PIN1_ADC, PIOS_ADC_PIN2_ADC, PIOS_ADC_PIN3_ADC, PIOS_ADC_PIN4_ADC, PIOS_ADC_PIN5_ADC, PIOS_ADC_PIN6_ADC, PIOS_ADC_PIN7_ADC, PIOS_ADC_PIN8_ADC }
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#define PIOS_ADC_CHANNEL_MAPPING { PIOS_ADC_PIN1_ADC_NUMBER, PIOS_ADC_PIN2_ADC_NUMBER, PIOS_ADC_PIN3_ADC_NUMBER, PIOS_ADC_PIN4_ADC_NUMBER, PIOS_ADC_PIN5_ADC_NUMBER, PIOS_ADC_PIN6_ADC_NUMBER, PIOS_ADC_PIN7_ADC_NUMBER, PIOS_ADC_PIN8_ADC_NUMBER }
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#define PIOS_ADC_NUM_CHANNELS (PIOS_ADC_NUM_PINS + PIOS_ADC_USE_TEMP_SENSOR)
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#define PIOS_ADC_NUM_ADC_CHANNELS 2
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#define PIOS_ADC_USE_ADC2 1
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#define PIOS_ADC_ADCCLK RCC_PCLK2_Div2
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#define PIOS_ADC_PCLK2 RCC_HCLK_Div16
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#define PIOS_ADC_CLOCK_FUNCTION RCC_APB2PeriphClockCmd(RCC_APB2Periph_ADC1 | RCC_APB2Periph_ADC2, ENABLE); RCC_PCLK2Config(PIOS_ADC_PCLK2);
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/* RCC_PCLK2_Div2: ADC clock = PCLK2/2 */
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/* RCC_PCLK2_Div4: ADC clock = PCLK2/4 */
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/* RCC_PCLK2_Div6: ADC clock = PCLK2/6 */
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/* RCC_PCLK2_Div8: ADC clock = PCLK2/8 */
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#define PIOS_ADC_SAMPLE_TIME ADC_SampleTime_239Cycles5
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/* Sample time: */
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/* With an ADCCLK = 14 MHz and a sampling time of 239.5 cycles: */
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/* Tconv = 239.5 + 12.5 = 252 cycles = 18<31>s */
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/* (1 / (ADCCLK / CYCLES)) = Sample Time (<28>S) */
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#define PIOS_ADC_IRQ_PRIO PIOS_IRQ_PRIO_LOW
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// Currently analog acquistion hard coded at 480 Hz
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// PCKL2 = HCLK / 16
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// ADCCLK = PCLK2 / 2
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#define PIOS_ADC_RATE (72.0e6 / 16 / 2 / 252 / (PIOS_ADC_NUM_PINS / 2))
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#define EKF_RATE (PIOS_ADC_RATE / adc_oversampling / 2)
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#define PIOS_ADC_MAX_OVERSAMPLING 50
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//-------------------------
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// GPIO
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//-------------------------
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#define PIOS_GPIO_1_PORT GPIOB
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#define PIOS_GPIO_1_PIN GPIO_Pin_9
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#define PIOS_GPIO_1_GPIO_CLK RCC_APB2Periph_GPIOB
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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 SET_ACCEL_2G PIOS_GPIO_On(0);
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#define SET_ACCEL_6G PIOS_GPIO_Off(0)
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//------------------------
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// PIOS_HMC5843
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//------------------------
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#define PIOS_HMC5843_DRDY_GPIO_PORT GPIOB
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#define PIOS_HMC5843_DRDY_GPIO_PIN GPIO_Pin_8
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#define PIOS_HMC5843_DRDY_PORT_SOURCE GPIO_PortSourceGPIOB
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#define PIOS_HMC5843_DRDY_PIN_SOURCE GPIO_PinSource8
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#define PIOS_HMC5843_DRDY_CLK RCC_APB2Periph_GPIOB
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#define PIOS_HMC5843_DRDY_EXTI_LINE EXTI_Line8
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#define PIOS_HMC5843_DRDY_IRQn EXTI9_5_IRQn
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#define PIOS_HMC5843_DRDY_PRIO PIOS_IRQ_PRIO_HIGH
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#endif /* STM32103CB_AHRS_H_ */
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