mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-12-02 10:24:11 +01:00
222 lines
6.9 KiB
C
Executable File
222 lines
6.9 KiB
C
Executable File
/**
|
|
******************************************************************************
|
|
*
|
|
* @file pios_board.h
|
|
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
|
* @brief Defines board hardware for the OpenPilot Version 1.1 hardware.
|
|
* @see The GNU Public License (GPL) Version 3
|
|
*
|
|
*****************************************************************************/
|
|
/*
|
|
* This program is free software; you can redistribute it and/or modify
|
|
* it under the terms of the GNU General Public License as published by
|
|
* the Free Software Foundation; either version 3 of the License, or
|
|
* (at your option) any later version.
|
|
*
|
|
* This program is distributed in the hope that it will be useful, but
|
|
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
|
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
|
* for more details.
|
|
*
|
|
* You should have received a copy of the GNU General Public License along
|
|
* with this program; if not, write to the Free Software Foundation, Inc.,
|
|
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
|
*/
|
|
|
|
#ifndef STM32103CB_PIPXTREME_H_
|
|
#define STM32103CB_PIPXTREME_H_
|
|
|
|
#define ADD_ONE_ADC
|
|
|
|
//------------------------
|
|
// Timers and Channels Used
|
|
//------------------------
|
|
/*
|
|
Timer | Channel 1 | Channel 2 | Channel 3 | Channel 4
|
|
------+-----------+-----------+-----------+----------
|
|
TIM1 | Servo 4 | | |
|
|
TIM2 | RC In 5 | RC In 6 | Servo 6 |
|
|
TIM3 | Servo 5 | RC In 2 | RC In 3 | RC In 4
|
|
TIM4 | RC In 1 | Servo 3 | Servo 2 | Servo 1
|
|
------+-----------+-----------+-----------+----------
|
|
*/
|
|
|
|
//------------------------
|
|
// DMA Channels Used
|
|
//------------------------
|
|
/* Channel 1 - */
|
|
/* Channel 2 - */
|
|
/* Channel 3 - */
|
|
/* Channel 4 - */
|
|
/* Channel 5 - */
|
|
/* Channel 6 - */
|
|
/* Channel 7 - */
|
|
/* Channel 8 - */
|
|
/* Channel 9 - */
|
|
/* Channel 10 - */
|
|
/* Channel 11 - */
|
|
/* Channel 12 - */
|
|
|
|
|
|
//------------------------
|
|
// BOOTLOADER_SETTINGS
|
|
//------------------------
|
|
#define BOARD_READABLE TRUE
|
|
#define BOARD_WRITABLE TRUE
|
|
#define MAX_DEL_RETRYS 3
|
|
|
|
|
|
//------------------------
|
|
// WATCHDOG_SETTINGS
|
|
//------------------------
|
|
#define PIOS_WATCHDOG_TIMEOUT 250
|
|
#define PIOS_WDG_REGISTER BKP_DR4
|
|
#define PIOS_WDG_ACTUATOR 0x0001
|
|
#define PIOS_WDG_STABILIZATION 0x0002
|
|
#define PIOS_WDG_ATTITUDE 0x0004
|
|
#define PIOS_WDG_MANUAL 0x0008
|
|
|
|
//------------------------
|
|
// TELEMETRY
|
|
//------------------------
|
|
#define TELEM_QUEUE_SIZE 20
|
|
|
|
//------------------------
|
|
// PIOS_LED
|
|
//------------------------
|
|
#define PIOS_LED_USB 0
|
|
#define PIOS_LED_LINK 1
|
|
#define PIOS_LED_RX 2
|
|
#define PIOS_LED_TX 3
|
|
|
|
#define PIOS_LED_HEARTBEAT PIOS_LED_USB
|
|
#define PIOS_LED_ALARM PIOS_LED_TX
|
|
|
|
#define USB_LED_ON PIOS_LED_On(PIOS_LED_USB)
|
|
#define USB_LED_OFF PIOS_LED_Off(PIOS_LED_USB)
|
|
#define USB_LED_TOGGLE PIOS_LED_Toggle(PIOS_LED_USB)
|
|
|
|
#define LINK_LED_ON PIOS_LED_On(PIOS_LED_LINK)
|
|
#define LINK_LED_OFF PIOS_LED_Off(PIOS_LED_LINK)
|
|
#define LINK_LED_TOGGLE PIOS_LED_Toggle(PIOS_LED_LINK)
|
|
|
|
#define RX_LED_ON PIOS_LED_On(PIOS_LED_RX)
|
|
#define RX_LED_OFF PIOS_LED_Off(PIOS_LED_RX)
|
|
#define RX_LED_TOGGLE PIOS_LED_Toggle(PIOS_LED_RX)
|
|
|
|
#define TX_LED_ON PIOS_LED_On(PIOS_LED_TX)
|
|
#define TX_LED_OFF PIOS_LED_Off(PIOS_LED_TX)
|
|
#define TX_LED_TOGGLE PIOS_LED_Toggle(PIOS_LED_TX)
|
|
|
|
//-------------------------
|
|
// System Settings
|
|
//-------------------------
|
|
#define PIOS_MASTER_CLOCK 72000000
|
|
#define PIOS_PERIPHERAL_CLOCK (PIOS_MASTER_CLOCK / 2)
|
|
|
|
//-------------------------
|
|
// Interrupt Priorities
|
|
//-------------------------
|
|
#define PIOS_IRQ_PRIO_LOW 12 // lower than RTOS
|
|
#define PIOS_IRQ_PRIO_MID 8 // higher than RTOS
|
|
#define PIOS_IRQ_PRIO_HIGH 5 // for SPI, ADC, I2C etc...
|
|
#define PIOS_IRQ_PRIO_HIGHEST 4 // for USART etc...
|
|
|
|
//------------------------
|
|
// PIOS_I2C
|
|
// See also pios_board.c
|
|
//------------------------
|
|
#define PIOS_I2C_MAX_DEVS 1
|
|
extern uint32_t pios_i2c_flexi_adapter_id;
|
|
#define PIOS_I2C_MAIN_ADAPTER (pios_i2c_flexi_adapter_id)
|
|
|
|
//-------------------------
|
|
// SPI
|
|
//
|
|
// See also pios_board.c
|
|
//-------------------------
|
|
#define PIOS_SPI_MAX_DEVS 2
|
|
|
|
//-------------------------
|
|
// PIOS_USART
|
|
//-------------------------
|
|
#define PIOS_USART_MAX_DEVS 3
|
|
|
|
//-------------------------
|
|
// PIOS_COM
|
|
//
|
|
// See also pios_board.c
|
|
//-------------------------
|
|
#define PIOS_COM_MAX_DEVS 5
|
|
|
|
extern uint32_t pios_com_telem_usb_id;
|
|
extern uint32_t pios_com_vcp_usb_id;
|
|
extern uint32_t pios_com_usart1_id;
|
|
extern uint32_t pios_com_usart3_id;
|
|
extern uint32_t pios_com_rfm22b_id;
|
|
#define PIOS_COM_TELEM_SERIAL (pios_com_usart1_id)
|
|
#define PIOS_COM_FLEXI (pios_com_usart3_id)
|
|
#define PIOS_COM_TELEM_USB (pios_com_telem_usb_id)
|
|
#define PIOS_COM_VCP_USB (pios_com_vcp_usb_id)
|
|
#define PIOS_COM_RFM22B_RF (pios_com_rfm22b_id)
|
|
/*
|
|
#define PIOS_COM_DEBUG PIOS_COM_TELEM_SERIAL
|
|
#define PIOS_COM_RADIO_TEMP PIOS_COM_FLEXI
|
|
#define PIOS_COM_BRIDGE_COM PIOS_COM_TELEM_USB
|
|
*/
|
|
#define PIOS_COM_DEBUG PIOS_COM_TELEM_SERIAL
|
|
#define PIOS_COM_RADIO_TEMP PIOS_COM_FLEXI
|
|
#define PIOS_COM_BRIDGE_COM PIOS_COM_TELEM_SERIAL
|
|
#define PIOS_COM_BRIDGE_RADIO PIOS_COM_RFM22B_RF
|
|
|
|
//------------------------
|
|
// PIOS_RCVR
|
|
// See also pios_board.c
|
|
//------------------------
|
|
#define PIOS_RCVR_MAX_DEVS 3
|
|
#define PIOS_RCVR_MAX_CHANNELS 12
|
|
|
|
//-------------------------
|
|
// Receiver PPM input
|
|
//-------------------------
|
|
#define PIOS_PPM_MAX_DEVS 1
|
|
#define PIOS_PPM_NUM_INPUTS 12
|
|
|
|
//-------------------------
|
|
// Receiver PWM input
|
|
//-------------------------
|
|
#define PIOS_PWM_MAX_DEVS 1
|
|
#define PIOS_PWM_NUM_INPUTS 1
|
|
|
|
//-------------------------
|
|
// Servo outputs
|
|
//-------------------------
|
|
#define PIOS_SERVO_UPDATE_HZ 50
|
|
#define PIOS_SERVOS_INITIAL_POSITION 0 /* dont want to start motors, have no pulse till settings loaded */
|
|
|
|
//--------------------------
|
|
// Timer controller settings
|
|
//--------------------------
|
|
#define PIOS_TIM_MAX_DEVS 3
|
|
|
|
//-------------------------
|
|
// GPIO
|
|
//-------------------------
|
|
#define PIOS_GPIO_PORTS { }
|
|
#define PIOS_GPIO_PINS { }
|
|
#define PIOS_GPIO_CLKS { }
|
|
#define PIOS_GPIO_NUM 0
|
|
|
|
//-------------------------
|
|
// USB
|
|
//-------------------------
|
|
#define PIOS_USB_HID_MAX_DEVS 1
|
|
#define PIOS_USB_ENABLED 1
|
|
#define PIOS_USB_HID_MAX_DEVS 1
|
|
#define PIOS_USB_MAX_DEVS 1
|
|
#define PIOS_USB_DETECT_GPIO_PORT GPIOC
|
|
#define PIOS_USB_DETECT_GPIO_PIN GPIO_Pin_15
|
|
#define PIOS_USB_DETECT_EXTI_LINE EXTI_Line15
|
|
|
|
#endif /* STM32103CB_PIPXTREME_H_ */
|