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https://bitbucket.org/librepilot/librepilot.git
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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()
426 lines
16 KiB
C
426 lines
16 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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// *****************************************************************
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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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#define PIOS_MASTER_CLOCK 72000000ul
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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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// PIOS_LED
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#define PIOS_LED_LED1_GPIO_PORT GPIOA // USB Activity LED
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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 GPIOB // LINK LED
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#define PIOS_LED_LED2_GPIO_PIN GPIO_Pin_5
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#define PIOS_LED_LED2_GPIO_CLK RCC_APB2Periph_GPIOB
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#define PIOS_LED_LED3_GPIO_PORT GPIOB // RX LED
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#define PIOS_LED_LED3_GPIO_PIN GPIO_Pin_6
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#define PIOS_LED_LED3_GPIO_CLK RCC_APB2Periph_GPIOB
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#define PIOS_LED_LED4_GPIO_PORT GPIOB // TX LED
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#define PIOS_LED_LED4_GPIO_PIN GPIO_Pin_7
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#define PIOS_LED_LED4_GPIO_CLK RCC_APB2Periph_GPIOB
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#define PIOS_LED_NUM 4
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#define PIOS_LED_PORTS { PIOS_LED_LED1_GPIO_PORT, PIOS_LED_LED2_GPIO_PORT, PIOS_LED_LED3_GPIO_PORT, PIOS_LED_LED4_GPIO_PORT }
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#define PIOS_LED_PINS { PIOS_LED_LED1_GPIO_PIN, PIOS_LED_LED2_GPIO_PIN, PIOS_LED_LED3_GPIO_PIN, PIOS_LED_LED4_GPIO_PIN }
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#define PIOS_LED_CLKS { PIOS_LED_LED1_GPIO_CLK, PIOS_LED_LED2_GPIO_CLK, PIOS_LED_LED3_GPIO_CLK, PIOS_LED_LED4_GPIO_CLK }
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#define USB_LED_ON PIOS_LED_On(LED1)
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#define USB_LED_OFF PIOS_LED_Off(LED1)
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#define USB_LED_TOGGLE PIOS_LED_Toggle(LED1)
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#define LINK_LED_ON PIOS_LED_On(LED2)
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#define LINK_LED_OFF PIOS_LED_Off(LED2)
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#define LINK_LED_TOGGLE PIOS_LED_Toggle(LED2)
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#define RX_LED_ON PIOS_LED_On(LED3)
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#define RX_LED_OFF PIOS_LED_Off(LED3)
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#define RX_LED_TOGGLE PIOS_LED_Toggle(LED3)
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#define TX_LED_ON PIOS_LED_On(LED4)
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#define TX_LED_OFF PIOS_LED_Off(LED4)
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#define TX_LED_TOGGLE PIOS_LED_Toggle(LED4)
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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 1
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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 512
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#define PIOS_COM_TX_BUFFER_SIZE 512
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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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#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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// PPM input/output
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//-------------------------
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#define PIOS_PPM_IN_GPIO_PORT GPIOB
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#define PIOS_PPM_IN_GPIO_PIN GPIO_Pin_11
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#define PIOS_PPM_IN_TIM_CHANNEL TIM_Channel_4
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#define PIOS_PPM_IN_TIM_CCR TIM_IT_CC4
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#define PIOS_PPM_IN_TIM_GETCAP_FUNC TIM_GetCapture4
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#define PIOS_PPM_OUT_GPIO_PORT GPIOB
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#define PIOS_PPM_OUT_GPIO_PIN GPIO_Pin_10
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#define PIOS_PPM_OUT_TIM_CHANNEL TIM_Channel_3
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#define PIOS_PPM_OUT_TIM_CCR TIM_IT_CC3
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#define PIOS_PPM_MAX_CHANNELS 7
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#define PIOS_PPM_TIM_PORT TIM2
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#define PIOS_PPM_TIM TIM2
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#define PIOS_PPM_TIM_IRQ TIM2_IRQn
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#define PIOS_PPM_CC_IRQ_FUNC TIM2_IRQHandler
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#define PIOS_PPM_TIMER_EN_RCC_FUNC RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE)
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#define PIOS_PPM_TIMER_DIS_RCC_FUNC RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, DISABLE)
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// *****************************************************************
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// ADC
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// PIOS_ADC_PinGet(0) = Temperature Sensor (On-board)
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// PIOS_ADC_PinGet(1) = PSU Voltage
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#define PIOS_ADC_OVERSAMPLING_RATE 2
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#define PIOS_ADC_USE_TEMP_SENSOR 1
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#define PIOS_ADC_TEMP_SENSOR_ADC ADC1
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#define PIOS_ADC_TEMP_SENSOR_ADC_CHANNEL 16 // Temperature sensor channel
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//#define PIOS_ADC_TEMP_SENSOR_ADC_CHANNEL 17 // VREF channel
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#define PIOS_ADC_PIN1_GPIO_PORT GPIOB // Port B (PSU Voltage)
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#define PIOS_ADC_PIN1_GPIO_PIN GPIO_Pin_1 // PB1 .. ADC12_IN9
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#define PIOS_ADC_PIN1_GPIO_CHANNEL ADC_Channel_9
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#define PIOS_ADC_PIN1_ADC ADC2
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#define PIOS_ADC_PIN1_ADC_NUMBER 1
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#define PIOS_ADC_NUM_PINS 1
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#define PIOS_ADC_PORTS { PIOS_ADC_PIN1_GPIO_PORT }
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#define PIOS_ADC_PINS { PIOS_ADC_PIN1_GPIO_PIN }
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#define PIOS_ADC_CHANNELS { PIOS_ADC_PIN1_GPIO_CHANNEL }
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#define PIOS_ADC_MAPPING { PIOS_ADC_PIN1_ADC }
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#define PIOS_ADC_CHANNEL_MAPPING { PIOS_ADC_PIN1_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_CLOCK_FUNCTION RCC_APB2PeriphClockCmd(RCC_APB2Periph_ADC1 | RCC_APB2Periph_ADC2, ENABLE)
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//#define PIOS_ADC_ADCCLK RCC_PCLK2_Div2 // ADC clock = PCLK2/2
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//#define PIOS_ADC_ADCCLK RCC_PCLK2_Div4 // ADC clock = PCLK2/4
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//#define PIOS_ADC_ADCCLK RCC_PCLK2_Div6 // ADC clock = PCLK2/6
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#define PIOS_ADC_ADCCLK RCC_PCLK2_Div8 // ADC clock = PCLK2/8
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//#define PIOS_ADC_SAMPLE_TIME ADC_SampleTime_1Cycles5
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//#define PIOS_ADC_SAMPLE_TIME ADC_SampleTime_7Cycles5
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//#define PIOS_ADC_SAMPLE_TIME ADC_SampleTime_13Cycles5
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//#define PIOS_ADC_SAMPLE_TIME ADC_SampleTime_28Cycles5
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//#define PIOS_ADC_SAMPLE_TIME ADC_SampleTime_41Cycles5
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//#define PIOS_ADC_SAMPLE_TIME ADC_SampleTime_55Cycles5
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//#define PIOS_ADC_SAMPLE_TIME ADC_SampleTime_71Cycles5
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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 293.5 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 3
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#define PIOS_ADC_MAX_OVERSAMPLING 1
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#define PIOS_ADC_RATE (72.0e6 / 1 / 8 / 252 / (PIOS_ADC_NUM_ADC_CHANNELS >> PIOS_ADC_USE_ADC2))
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// *****************************************************************
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// GPIO output pins
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// GPIO_Mode_Out_OD Open Drain Output
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// GPIO_Mode_Out_PP Push-Pull Output
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// GPIO_Mode_AF_OD Open Drain Output Alternate-Function
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// GPIO_Mode_AF_PP Push-Pull Output Alternate-Function
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// Serial port RTS line
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#define PIOS_GPIO_OUT_0_PORT GPIOB
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#define PIOS_GPIO_OUT_0_PIN GPIO_Pin_15
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#define PIOS_GPIO_OUT_0_GPIO_CLK RCC_APB2Periph_GPIOB
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// RF module chip-select line
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#define PIOS_GPIO_OUT_1_PORT GPIOA
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#define PIOS_GPIO_OUT_1_PIN GPIO_Pin_4
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#define PIOS_GPIO_OUT_1_GPIO_CLK RCC_APB2Periph_GPIOA
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// PPM OUT line
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#define PIOS_GPIO_OUT_2_PORT GPIOB
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#define PIOS_GPIO_OUT_2_PIN GPIO_Pin_10
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#define PIOS_GPIO_OUT_2_GPIO_CLK RCC_APB2Periph_GPIOB
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// spare pin
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#define PIOS_GPIO_OUT_3_PORT GPIOA
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#define PIOS_GPIO_OUT_3_PIN GPIO_Pin_0
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#define PIOS_GPIO_OUT_3_GPIO_CLK RCC_APB2Periph_GPIOA
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// spare pin
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#define PIOS_GPIO_OUT_4_PORT GPIOA
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#define PIOS_GPIO_OUT_4_PIN GPIO_Pin_1
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#define PIOS_GPIO_OUT_4_GPIO_CLK RCC_APB2Periph_GPIOA
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// spare pin
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#define PIOS_GPIO_OUT_5_PORT GPIOC
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#define PIOS_GPIO_OUT_5_PIN GPIO_Pin_13
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#define PIOS_GPIO_OUT_5_GPIO_CLK RCC_APB2Periph_GPIOC
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// spare pin
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#define PIOS_GPIO_OUT_6_PORT GPIOC
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#define PIOS_GPIO_OUT_6_PIN GPIO_Pin_14
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#define PIOS_GPIO_OUT_6_GPIO_CLK RCC_APB2Periph_GPIOC
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// spare pin
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#define PIOS_GPIO_OUT_7_PORT GPIOC
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#define PIOS_GPIO_OUT_7_PIN GPIO_Pin_15
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#define PIOS_GPIO_OUT_7_GPIO_CLK RCC_APB2Periph_GPIOC
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#define PIOS_GPIO_NUM 8
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#define PIOS_GPIO_PORTS {PIOS_GPIO_OUT_0_PORT, PIOS_GPIO_OUT_1_PORT, PIOS_GPIO_OUT_2_PORT, PIOS_GPIO_OUT_3_PORT, PIOS_GPIO_OUT_4_PORT, PIOS_GPIO_OUT_5_PORT, PIOS_GPIO_OUT_6_PORT, PIOS_GPIO_OUT_7_PORT}
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#define PIOS_GPIO_PINS {PIOS_GPIO_OUT_0_PIN, PIOS_GPIO_OUT_1_PIN, PIOS_GPIO_OUT_2_PIN, PIOS_GPIO_OUT_3_PIN, PIOS_GPIO_OUT_4_PIN, PIOS_GPIO_OUT_5_PIN, PIOS_GPIO_OUT_6_PIN, PIOS_GPIO_OUT_7_PIN}
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#define PIOS_GPIO_CLKS {PIOS_GPIO_OUT_0_GPIO_CLK, PIOS_GPIO_OUT_1_GPIO_CLK, PIOS_GPIO_OUT_2_GPIO_CLK, PIOS_GPIO_OUT_3_GPIO_CLK, PIOS_GPIO_OUT_4_GPIO_CLK, PIOS_GPIO_OUT_5_GPIO_CLK, PIOS_GPIO_OUT_6_GPIO_CLK, PIOS_GPIO_OUT_7_GPIO_CLK}
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#define SERIAL_RTS_ENABLE PIOS_GPIO_Enable(0)
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#define SERIAL_RTS_SET PIOS_GPIO_Off(0)
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#define SERIAL_RTS_CLEAR PIOS_GPIO_On(0)
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#define RF_CS_ENABLE PIOS_GPIO_Enable(1)
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#define RF_CS_HIGH PIOS_GPIO_Off(1)
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#define RF_CS_LOW PIOS_GPIO_On(1)
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#define PPM_OUT_PIN PIOS_GPIO_OUT_2_PIN
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#define PPM_OUT_PORT PIOS_GPIO_OUT_2_PORT
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#define PPM_OUT_ENABLE PIOS_GPIO_Enable(2)
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#define PPM_OUT_HIGH PIOS_GPIO_Off(2)
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#define PPM_OUT_LOW PIOS_GPIO_On(2)
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#define SPARE1_ENABLE PIOS_GPIO_Enable(3)
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#define SPARE1_HIGH PIOS_GPIO_Off(3)
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#define SPARE1_LOW PIOS_GPIO_On(3)
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#define SPARE2_ENABLE PIOS_GPIO_Enable(4)
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#define SPARE2_HIGH PIOS_GPIO_Off(4)
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#define SPARE2_LOW PIOS_GPIO_On(4)
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#define SPARE3_ENABLE PIOS_GPIO_Enable(5)
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#define SPARE3_HIGH PIOS_GPIO_Off(5)
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#define SPARE3_LOW PIOS_GPIO_On(5)
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#define SPARE4_ENABLE PIOS_GPIO_Enable(6)
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#define SPARE4_HIGH PIOS_GPIO_Off(6)
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#define SPARE4_LOW PIOS_GPIO_On(6)
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#define SPARE5_ENABLE PIOS_GPIO_Enable(7)
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#define SPARE5_HIGH PIOS_GPIO_Off(7)
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#define SPARE5_LOW PIOS_GPIO_On(7)
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// *****************************************************************
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// GPIO input pins
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// GPIO_Mode_AIN Analog Input
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// GPIO_Mode_IN_FLOATING Input Floating
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// GPIO_Mode_IPD Input Pull-Down
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// GPIO_Mode_IPU Input Pull-up
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// API mode line
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#define GPIO_IN_0_PORT GPIOB
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#define GPIO_IN_0_PIN GPIO_Pin_13
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#define GPIO_IN_0_MODE GPIO_Mode_IPU
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// Serial port CTS line
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#define GPIO_IN_1_PORT GPIOB
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#define GPIO_IN_1_PIN GPIO_Pin_14
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#define GPIO_IN_1_MODE GPIO_Mode_IPU
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// VBUS sense line
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#define GPIO_IN_2_PORT GPIOA
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#define GPIO_IN_2_PIN GPIO_Pin_8
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#define GPIO_IN_2_MODE GPIO_Mode_IN_FLOATING
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// 868MHz jumper option
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#define GPIO_IN_3_PORT GPIOB
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#define GPIO_IN_3_PIN GPIO_Pin_8
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#define GPIO_IN_3_MODE GPIO_Mode_IPU
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// 915MHz jumper option
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#define GPIO_IN_4_PORT GPIOB
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#define GPIO_IN_4_PIN GPIO_Pin_9
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#define GPIO_IN_4_MODE GPIO_Mode_IPU
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// RF INT line
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#define GPIO_IN_5_PORT GPIOA
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#define GPIO_IN_5_PIN GPIO_Pin_2
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#define GPIO_IN_5_MODE GPIO_Mode_IN_FLOATING
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// RF misc line
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#define GPIO_IN_6_PORT GPIOB
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#define GPIO_IN_6_PIN GPIO_Pin_0
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#define GPIO_IN_6_MODE GPIO_Mode_IN_FLOATING
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// PPM IN line
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#define PPM_IN_PORT GPIOB
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#define PPM_IN_PIN GPIO_Pin_11
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#define PPM_IN_MODE GPIO_Mode_IPD
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#define GPIO_IN_NUM 8
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#define GPIO_IN_PORTS { GPIO_IN_0_PORT, GPIO_IN_1_PORT, GPIO_IN_2_PORT, GPIO_IN_3_PORT, GPIO_IN_4_PORT, GPIO_IN_5_PORT, GPIO_IN_6_PORT, PPM_IN_PORT }
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#define GPIO_IN_PINS { GPIO_IN_0_PIN, GPIO_IN_1_PIN, GPIO_IN_2_PIN, GPIO_IN_3_PIN, GPIO_IN_4_PIN, GPIO_IN_5_PIN, GPIO_IN_6_PIN, PPM_IN_PIN }
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#define GPIO_IN_MODES { GPIO_IN_0_MODE, GPIO_IN_1_MODE, GPIO_IN_2_MODE, GPIO_IN_3_MODE, GPIO_IN_4_MODE, GPIO_IN_5_MODE, GPIO_IN_6_MODE, PPM_IN_MODE }
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#define API_MODE_PIN 0
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#define SERIAL_CTS_PIN 1
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#define VBUS_SENSE_PIN 2
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#define _868MHz_PIN 3
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#define _915MHz_PIN 4
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#define RF_INT_PIN 5
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#define RF_MISC_PIN 6
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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_HID_MAX_DEVS 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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#endif
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||
|
||
// *****************************************************************
|
||
// RFM22
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||
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||
//#define RFM22_EXT_INT_USE
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|
||
#define RFM22_PIOS_SPI PIOS_SPI_PORT // SPIx
|
||
|
||
#if defined(RFM22_EXT_INT_USE)
|
||
#define RFM22_EXT_INT_PORT_SOURCE GPIO_PortSourceGPIOA
|
||
#define RFM22_EXT_INT_PIN_SOURCE GPIO_PinSource2
|
||
|
||
#define RFM22_EXT_INT_LINE EXTI_Line2
|
||
#define RFM22_EXT_INT_IRQn EXTI2_IRQn
|
||
#define RFM22_EXT_INT_FUNC EXTI2_IRQHandler
|
||
|
||
#define RFM22_EXT_INT_PRIORITY 1
|
||
#endif
|
||
|
||
// *****************************************************************
|
||
|
||
#endif /* PIOS_BOARD_H */
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