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8f977a4411
This is the first cleanup pass through makefiles and pios. Probably it is difficult to track changes due to the nature of them. I would recommend to look at resulting files and compiled code instead. NOTE: original branch was rebased and lot of conflicts were fixed on the way. So do not expect that every commit in this series will be buildable (unlike original branch). Only final result was tested. The main goal was to remove as much duplication of code (and copy/paste errors) as possible, moving common parts out of Makefiles. It still is not perfect, and mostly no code changes made - Makefiles and #ifdefs only. But please while testing make sure that all code works as before, and no modules/options are missed by accident. Brief list of changes: - Moved common parts of Makefiles into the set of *.mk files. - Changed method of passing common vars from top Makefile to lower ones. - Some pios cleanup, mostly #ifdefs, and all pios_config.h files. - Many obsolete files removed (for instance, AHRS files, op_config.h). - Many obsolete or unused macros removed or fixed/renamed (ALL_DIGNOSTICS). - Unified pios_config.h template. Please don't remove lines for board configs, only comment/uncomment them. Adding new PIOS options, please propagate them to all board files keeping the same order. - Some formatting, spacing, indentation (no line endings change yet). - Some cosmetic fixes (no more C:\X\Y\filename.c printings on Windows). - Added some library.mk files to move libs into AR achives later. - EntireFlash target now uses cross-platform python script to generate bin files. So it works on all supported platforms: Linux, OSX, Windows. - Top level packaging is completely rewritten. Now it is a part of top Makefile. As such, all dependencies are checked and accounted, no more 'make -j' problems should occur. - Default GCS_BUILD_CONF is release now, may be changed if necessary using 'make GCS_BUILD_CONF=debug gcs'. - GCS build paths are separated into debug and release, so no more obj file clashes. Packaging system supports only release builds. - New target is introduced: 'clean_package'. Now 'make package' does not clean build directory. Use clean_package instead for distributable builds. - Targets like 'all', 'opfw_resource', etc now will print extra contex in parallel builds too. - If any of 'package', 'clean_package', 'opfw_resource' targets are given on command line, GCS build will depend on the resource, so all fw_*.opfw targets will be built and embedded into GCS. By default GCS does not depend on resource, and will be built w/o firmware (unless the resource files already exist and the Qt resource file is generated). - fw_simposix (ELF executable) is now packaged for linux. Run'n'play! - Make help is refined and is now up to date. Still broken: - UnitTests, should be fixed - SimPosix: buildable, but should be reworked. Next planned passes to do: - toolchain bootstrapping and packaging (including windows - WIP) - CMSIS/StdPeriph lib cleanup - more PIOS cleanup - move libs into AR archives to save build time - sim targets refactir and cleanup - move android-related directories under <top>/android - unit test targets fix - source code line ending changes (there are many different, were not changed) - coding style Merging this, please use --no-ff git option to make it the real commit point Conflicts: A lot of... :-)
315 lines
10 KiB
C
Executable File
315 lines
10 KiB
C
Executable File
/**
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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_PIPXTREME_H_
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#define STM32103CB_PIPXTREME_H_
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#define ADD_ONE_ADC
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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 | Servo 4 | | |
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TIM2 | RC In 5 | RC In 6 | Servo 6 |
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TIM3 | Servo 5 | RC In 2 | RC In 3 | RC In 4
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TIM4 | RC In 1 | Servo 3 | Servo 2 | Servo 1
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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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// WATCHDOG_SETTINGS
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//------------------------
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#define PIOS_WATCHDOG_TIMEOUT 500
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#define PIOS_WDG_REGISTER BKP_DR4
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#define PIOS_WDG_TELEMETRY 0x0001
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#define PIOS_WDG_RADIORX 0x0002
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#define PIOS_WDG_RADIOTX 0x0004
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#define PIOS_WDG_RFM22B 0x0008
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//------------------------
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// TELEMETRY
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//------------------------
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#define TELEM_QUEUE_SIZE 20
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//------------------------
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// PIOS_LED
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//------------------------
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#define PIOS_LED_USB 0
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#define PIOS_LED_LINK 1
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#define PIOS_LED_RX 2
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#define PIOS_LED_TX 3
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#ifdef PIOS_RFM22B_DEBUG_ON_TELEM
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#define PIOS_LED_D1 4
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#define PIOS_LED_D2 5
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#define PIOS_LED_D3 6
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#define PIOS_LED_D4 7
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#endif
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#define PIOS_LED_HEARTBEAT PIOS_LED_LINK
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#define PIOS_LED_ALARM PIOS_LED_TX
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#define USB_LED_ON PIOS_LED_On(PIOS_LED_USB)
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#define USB_LED_OFF PIOS_LED_Off(PIOS_LED_USB)
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#define USB_LED_TOGGLE PIOS_LED_Toggle(PIOS_LED_USB)
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#define LINK_LED_ON PIOS_LED_On(PIOS_LED_LINK)
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#define LINK_LED_OFF PIOS_LED_Off(PIOS_LED_LINK)
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#define LINK_LED_TOGGLE PIOS_LED_Toggle(PIOS_LED_LINK)
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#define RX_LED_ON PIOS_LED_On(PIOS_LED_RX)
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#define RX_LED_OFF PIOS_LED_Off(PIOS_LED_RX)
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#define RX_LED_TOGGLE PIOS_LED_Toggle(PIOS_LED_RX)
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#define TX_LED_ON PIOS_LED_On(PIOS_LED_TX)
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#define TX_LED_OFF PIOS_LED_Off(PIOS_LED_TX)
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#define TX_LED_TOGGLE PIOS_LED_Toggle(PIOS_LED_TX)
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#ifdef PIOS_RFM22B_DEBUG_ON_TELEM
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#define D1_LED_ON PIOS_LED_On(PIOS_LED_D1)
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#define D1_LED_OFF PIOS_LED_Off(PIOS_LED_D1)
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#define D1_LED_TOGGLE PIOS_LED_Toggle(PIOS_LED_D1)
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#define D2_LED_ON PIOS_LED_On(PIOS_LED_D2)
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#define D2_LED_OFF PIOS_LED_Off(PIOS_LED_D2)
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#define D2_LED_TOGGLE PIOS_LED_Toggle(PIOS_LED_D2)
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#define D3_LED_ON PIOS_LED_On(PIOS_LED_D3)
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#define D3_LED_OFF PIOS_LED_Off(PIOS_LED_D3)
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#define D3_LED_TOGGLE PIOS_LED_Toggle(PIOS_LED_D3)
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#define D4_LED_ON PIOS_LED_On(PIOS_LED_D4)
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#define D4_LED_OFF PIOS_LED_Off(PIOS_LED_D4)
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#define D4_LED_TOGGLE PIOS_LED_Toggle(PIOS_LED_D4)
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#endif
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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_flexi_adapter_id;
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#define PIOS_I2C_MAIN_ADAPTER (pios_i2c_flexi_adapter_id)
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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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//-------------------------
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// PIOS_USART
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//-------------------------
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#define PIOS_USART_MAX_DEVS 3
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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 5
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extern uint32_t pios_com_telem_usb_id;
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extern uint32_t pios_com_telem_vcp_id;
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extern uint32_t pios_com_telem_uart_telem_id;
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extern uint32_t pios_com_telem_uart_flexi_id;
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extern uint32_t pios_com_telemetry_id;
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extern uint32_t pios_com_rfm22b_id;
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extern uint32_t pios_com_radio_id;
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extern uint32_t pios_ppm_rcvr_id;
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extern uint32_t pios_ppm_out_id;
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#define PIOS_COM_TELEM_USB (pios_com_telem_usb_id)
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#define PIOS_COM_TELEM_VCP (pios_com_telem_vcp_id)
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#define PIOS_COM_TELEM_UART_FLEXI (pios_com_telem_uart_flexi_id)
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#define PIOS_COM_TELEM_UART_TELEM (pios_com_telem_uart_telem_id)
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#define PIOS_COM_TELEMETRY (pios_com_telemetry_id)
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#define PIOS_COM_RFM22B (pios_com_rfm22b_id)
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#define PIOS_COM_RADIO (pios_com_radio_id)
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#define PIOS_PPM_RECEIVER (pios_ppm_rcvr_id)
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#define PIOS_PPM_OUTPUT (pios_ppm_out_id)
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#define RFM22_DEBUG 1
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//-------------------------
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// ADC
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// None
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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_NUM_PINS 0
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#define PIOS_ADC_PORTS { }
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#define PIOS_ADC_PINS { }
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#define PIOS_ADC_CHANNELS { }
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#define PIOS_ADC_MAPPING { }
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#define PIOS_ADC_CHANNEL_MAPPING { }
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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 0
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#define PIOS_ADC_USE_ADC2 0
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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_Div8
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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 / 1.0 / 8.0 / 252.0 / (PIOS_ADC_NUM_CHANNELS >> PIOS_ADC_USE_ADC2))
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#define PIOS_ADC_MAX_OVERSAMPLING 36
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//------------------------
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// PIOS_RCVR
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// See also pios_board.c
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//------------------------
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#define PIOS_RCVR_MAX_DEVS 3
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#define PIOS_RCVR_MAX_CHANNELS 12
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#define PIOS_GCSRCVR_TIMEOUT_MS 100
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//-------------------------
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// Receiver PPM input
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//-------------------------
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#define PIOS_PPM_MAX_DEVS 1
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#define PIOS_PPM_NUM_INPUTS 8
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//-------------------------
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// Servo outputs
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//-------------------------
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#define PIOS_SERVO_UPDATE_HZ 50
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#define PIOS_SERVOS_INITIAL_POSITION 0 /* dont want to start motors, have no pulse till settings loaded */
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//--------------------------
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// Timer controller settings
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//--------------------------
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#define PIOS_TIM_MAX_DEVS 3
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//-------------------------
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// GPIO
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//-------------------------
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#define PIOS_GPIO_PORTS { }
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#define PIOS_GPIO_PINS { }
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#define PIOS_GPIO_CLKS { }
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#define PIOS_GPIO_NUM 0
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//-------------------------
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// USB
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//-------------------------
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#define PIOS_USB_HID_MAX_DEVS 1
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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_MAX_DEVS 1
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#define PIOS_USB_DETECT_GPIO_PORT GPIOC
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#define PIOS_USB_DETECT_GPIO_PIN GPIO_Pin_15
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#define PIOS_USB_DETECT_EXTI_LINE EXTI_Line15
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//-------------------------
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// RFM22
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//-------------------------
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#if defined(PIOS_INCLUDE_RFM22B)
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extern uint32_t pios_spi_rfm22b_id;
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#define PIOS_RFM22_SPI_PORT (pios_spi_rfm22b_id)
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extern uint32_t pios_rfm22b_id;
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#endif /* PIOS_INCLUDE_RFM22B */
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//-------------------------
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// Packet Handler
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//-------------------------
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extern uint32_t pios_packet_handler;
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#define PIOS_PACKET_HANDLER (pios_packet_handler)
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#define PIOS_PH_MAX_PACKET 255
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#define PIOS_PH_WIN_SIZE 3
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#define PIOS_PH_MAX_CONNECTIONS 1
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#define RS_ECC_NPARITY 4
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//-------------------------
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// Reed-Solomon ECC
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//-------------------------
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#define RS_ECC_NPARITY 4
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//-------------------------
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// Flash EEPROM Emulation
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//-------------------------
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#define PIOS_FLASH_SIZE 0x20000
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#define PIOS_FLASH_EEPROM_START_ADDR 0x08000000
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#define PIOS_FLASH_PAGE_SIZE 1024
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#define PIOS_FLASH_EEPROM_ADDR (PIOS_FLASH_EEPROM_START_ADDR + PIOS_FLASH_SIZE - PIOS_FLASH_PAGE_SIZE)
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#define PIOS_FLASH_EEPROM_LEN PIOS_FLASH_PAGE_SIZE
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#endif /* STM32103CB_PIPXTREME_H_ */
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