mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-11-30 08:24:11 +01:00
250 lines
9.5 KiB
C
250 lines
9.5 KiB
C
/**
|
||
******************************************************************************
|
||
*
|
||
* @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_AHRS_H_
|
||
#define STM32103CB_AHRS_H_
|
||
|
||
//------------------------
|
||
// Timers and Channels Used
|
||
//------------------------
|
||
/*
|
||
Timer | Channel 1 | Channel 2 | Channel 3 | Channel 4
|
||
------+-----------+-----------+-----------+----------
|
||
TIM1 | | | |
|
||
TIM2 | --------------- PIOS_DELAY -----------------
|
||
TIM3 | | | |
|
||
TIM4 | | | |
|
||
TIM5 | | | |
|
||
TIM6 | | | |
|
||
TIM7 | | | |
|
||
TIM8 | | | |
|
||
------+-----------+-----------+-----------+----------
|
||
*/
|
||
|
||
//------------------------
|
||
// 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
|
||
|
||
//------------------------
|
||
// PIOS_LED
|
||
//------------------------
|
||
#define PIOS_LED_LED1_GPIO_PORT GPIOA
|
||
#define PIOS_LED_LED1_GPIO_PIN GPIO_Pin_3
|
||
#define PIOS_LED_LED1_GPIO_CLK RCC_APB2Periph_GPIOA
|
||
#define PIOS_LED_NUM 1
|
||
#define PIOS_LED_PORTS { PIOS_LED_LED1_GPIO_PORT }
|
||
#define PIOS_LED_PINS { PIOS_LED_LED1_GPIO_PIN }
|
||
#define PIOS_LED_CLKS { PIOS_LED_LED1_GPIO_CLK }
|
||
|
||
//-------------------------
|
||
// 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_main_adapter_id;
|
||
#define PIOS_I2C_MAIN_ADAPTER (pios_i2c_main_adapter_id)
|
||
|
||
//-------------------------
|
||
// SPI
|
||
//
|
||
// See also pios_board.c
|
||
//-------------------------
|
||
#define PIOS_SPI_MAX_DEVS 1
|
||
|
||
//-------------------------
|
||
// PIOS_USART
|
||
//-------------------------
|
||
#define PIOS_USART_MAX_DEVS 2
|
||
|
||
//-------------------------
|
||
// PIOS_COM
|
||
//
|
||
// See also pios_board.c
|
||
//-------------------------
|
||
#define PIOS_COM_MAX_DEVS 2
|
||
|
||
extern uint32_t pios_com_aux_id;
|
||
#define PIOS_COM_AUX (pios_com_aux_id)
|
||
#define PIOS_COM_DEBUG PIOS_COM_AUX
|
||
|
||
//-------------------------
|
||
// ADC
|
||
// PIOS_ADC_PinGet(0) = Accel Z
|
||
// PIOS_ADC_PinGet(2) = Accel Y
|
||
// PIOS_ADC_PinGet(4) = Accel X
|
||
// PIOS_ADC_PinGet(1) = Gyro X
|
||
// PIOS_ADC_PinGet(3) = Gyro Y
|
||
// PIOS_ADC_PinGet(5) = Gyro Z
|
||
// PIOS_ADC_PinGet(6) = XY Temp
|
||
// PIOS_ADC_PinGet(7) = Z Temp
|
||
//-------------------------
|
||
//#define PIOS_ADC_OVERSAMPLING_RATE 1
|
||
#define PIOS_ADC_USE_TEMP_SENSOR 0
|
||
#define PIOS_ADC_TEMP_SENSOR_ADC ADC1
|
||
#define PIOS_ADC_TEMP_SENSOR_ADC_CHANNEL 1
|
||
|
||
#define PIOS_ADC_PIN1_GPIO_PORT GPIOA // PA2 (Accel X)
|
||
#define PIOS_ADC_PIN1_GPIO_PIN GPIO_Pin_2 // ADC12_IN2
|
||
#define PIOS_ADC_PIN1_GPIO_CHANNEL ADC_Channel_2
|
||
#define PIOS_ADC_PIN1_ADC ADC1
|
||
#define PIOS_ADC_PIN1_ADC_NUMBER 1
|
||
|
||
#define PIOS_ADC_PIN2_GPIO_PORT GPIOA // PA1 (Accel Y)
|
||
#define PIOS_ADC_PIN2_GPIO_PIN GPIO_Pin_1 // ADC123_IN1
|
||
#define PIOS_ADC_PIN2_GPIO_CHANNEL ADC_Channel_1
|
||
#define PIOS_ADC_PIN2_ADC ADC1
|
||
#define PIOS_ADC_PIN2_ADC_NUMBER 2
|
||
|
||
#define PIOS_ADC_PIN3_GPIO_PORT GPIOA // PA0 (Accel Z)
|
||
#define PIOS_ADC_PIN3_GPIO_PIN GPIO_Pin_0 // ADC12_IN0
|
||
#define PIOS_ADC_PIN3_GPIO_CHANNEL ADC_Channel_0
|
||
#define PIOS_ADC_PIN3_ADC ADC1
|
||
#define PIOS_ADC_PIN3_ADC_NUMBER 3
|
||
|
||
#define PIOS_ADC_PIN4_GPIO_PORT GPIOA // PA6 (Temp_XY)
|
||
#define PIOS_ADC_PIN4_GPIO_PIN GPIO_Pin_6 // ADC12_IN6
|
||
#define PIOS_ADC_PIN4_GPIO_CHANNEL ADC_Channel_6
|
||
#define PIOS_ADC_PIN4_ADC ADC1
|
||
#define PIOS_ADC_PIN4_ADC_NUMBER 4
|
||
|
||
#define PIOS_ADC_PIN5_GPIO_PORT GPIOA // PA4 (Gyro X)
|
||
#define PIOS_ADC_PIN5_GPIO_PIN GPIO_Pin_4 // ADC12_IN4
|
||
#define PIOS_ADC_PIN5_GPIO_CHANNEL ADC_Channel_4
|
||
#define PIOS_ADC_PIN5_ADC ADC2
|
||
#define PIOS_ADC_PIN5_ADC_NUMBER 1
|
||
|
||
#define PIOS_ADC_PIN6_GPIO_PORT GPIOA // PA5 (Gyro Y)
|
||
#define PIOS_ADC_PIN6_GPIO_PIN GPIO_Pin_5 // ADC12_IN5
|
||
#define PIOS_ADC_PIN6_GPIO_CHANNEL ADC_Channel_5
|
||
#define PIOS_ADC_PIN6_ADC ADC2
|
||
#define PIOS_ADC_PIN6_ADC_NUMBER 2
|
||
|
||
#define PIOS_ADC_PIN7_GPIO_PORT GPIOA // PA7 (Gyro Z)
|
||
#define PIOS_ADC_PIN7_GPIO_PIN GPIO_Pin_7 // ADC12_IN7
|
||
#define PIOS_ADC_PIN7_GPIO_CHANNEL ADC_Channel_7
|
||
#define PIOS_ADC_PIN7_ADC ADC2
|
||
#define PIOS_ADC_PIN7_ADC_NUMBER 3
|
||
|
||
#define PIOS_ADC_PIN8_GPIO_PORT GPIOB // PB1 (Z Temp)
|
||
#define PIOS_ADC_PIN8_GPIO_PIN GPIO_Pin_1 // ADC12_IN9
|
||
#define PIOS_ADC_PIN8_GPIO_CHANNEL ADC_Channel_9
|
||
#define PIOS_ADC_PIN8_ADC ADC2
|
||
#define PIOS_ADC_PIN8_ADC_NUMBER 4
|
||
|
||
#define PIOS_ADC_NUM_PINS 8
|
||
|
||
#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 }
|
||
#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 }
|
||
#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 }
|
||
#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 }
|
||
#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 }
|
||
#define PIOS_ADC_NUM_CHANNELS (PIOS_ADC_NUM_PINS + PIOS_ADC_USE_TEMP_SENSOR)
|
||
#define PIOS_ADC_NUM_ADC_CHANNELS 2
|
||
#define PIOS_ADC_USE_ADC2 1
|
||
#define PIOS_ADC_ADCCLK RCC_PCLK2_Div2
|
||
#define PIOS_ADC_PCLK2 RCC_HCLK_Div16
|
||
#define PIOS_ADC_CLOCK_FUNCTION RCC_APB2PeriphClockCmd(RCC_APB2Periph_ADC1 | RCC_APB2Periph_ADC2, ENABLE); RCC_PCLK2Config(PIOS_ADC_PCLK2);
|
||
/* RCC_PCLK2_Div2: ADC clock = PCLK2/2 */
|
||
/* RCC_PCLK2_Div4: ADC clock = PCLK2/4 */
|
||
/* RCC_PCLK2_Div6: ADC clock = PCLK2/6 */
|
||
/* RCC_PCLK2_Div8: ADC clock = PCLK2/8 */
|
||
#define PIOS_ADC_SAMPLE_TIME ADC_SampleTime_239Cycles5
|
||
/* Sample time: */
|
||
/* With an ADCCLK = 14 MHz and a sampling time of 239.5 cycles: */
|
||
/* Tconv = 239.5 + 12.5 = 252 cycles = 18<31>s */
|
||
/* (1 / (ADCCLK / CYCLES)) = Sample Time (<28>S) */
|
||
#define PIOS_ADC_IRQ_PRIO PIOS_IRQ_PRIO_LOW
|
||
|
||
// Currently analog acquistion hard coded at 480 Hz
|
||
// PCKL2 = HCLK / 16
|
||
// ADCCLK = PCLK2 / 2
|
||
#define PIOS_ADC_RATE (72.0e6 / 16 / 2 / 252 / (PIOS_ADC_NUM_PINS / 2))
|
||
#define EKF_RATE (PIOS_ADC_RATE / adc_oversampling / 2)
|
||
#define PIOS_ADC_MAX_OVERSAMPLING 50
|
||
|
||
//-------------------------
|
||
// GPIO
|
||
//-------------------------
|
||
#define PIOS_GPIO_1_PORT GPIOB
|
||
#define PIOS_GPIO_1_PIN GPIO_Pin_9
|
||
#define PIOS_GPIO_1_GPIO_CLK RCC_APB2Periph_GPIOB
|
||
#define PIOS_GPIO_PORTS { PIOS_GPIO_1_PORT }
|
||
#define PIOS_GPIO_PINS { PIOS_GPIO_1_PIN }
|
||
#define PIOS_GPIO_CLKS { PIOS_GPIO_1_GPIO_CLK }
|
||
#define PIOS_GPIO_NUM 1
|
||
#define SET_ACCEL_2G PIOS_GPIO_On(0);
|
||
#define SET_ACCEL_6G PIOS_GPIO_Off(0)
|
||
|
||
//------------------------
|
||
// PIOS_HMC5843
|
||
//------------------------
|
||
#define PIOS_HMC5843_DRDY_GPIO_PORT GPIOB
|
||
#define PIOS_HMC5843_DRDY_GPIO_PIN GPIO_Pin_8
|
||
#define PIOS_HMC5843_DRDY_PORT_SOURCE GPIO_PortSourceGPIOB
|
||
#define PIOS_HMC5843_DRDY_PIN_SOURCE GPIO_PinSource8
|
||
#define PIOS_HMC5843_DRDY_CLK RCC_APB2Periph_GPIOB
|
||
#define PIOS_HMC5843_DRDY_EXTI_LINE EXTI_Line8
|
||
#define PIOS_HMC5843_DRDY_IRQn EXTI9_5_IRQn
|
||
#define PIOS_HMC5843_DRDY_PRIO PIOS_IRQ_PRIO_HIGH
|
||
|
||
|
||
|
||
#endif /* STM32103CB_AHRS_H_ */
|