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327 lines
15 KiB
C
327 lines
15 KiB
C
/**
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******************************************************************************
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* @addtogroup OpenPilotSystem OpenPilot System
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* @{
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* @addtogroup OpenPilotCore OpenPilot Core
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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 STM3210E_OP_H_
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#define STM3210E_OP_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 | RC In 3 | RC In 6 | RC In 5 |
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TIM2 | --------------- PIOS_DELAY -----------------
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TIM3 | RC In 7 | RC In 8 | RC In 1 | RC In 2
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TIM4 | Servo 1 | Servo 2 | Servo 3 | Servo 4
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TIM5 | RC In 4 | | |
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TIM6 | ----------- PIOS_PWM (Supervisor) ----------
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TIM7 | | | |
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TIM8 | Servo 5 | Servo 6 | Servo 7 | Servo 8
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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 - ADC */
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/* Channel 2 - SPI1 RX */
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/* Channel 3 - SPI1 TX */
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/* Channel 4 - SPI2 RX */
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/* Channel 5 - SPI2 TX */
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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 250
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#define PIOS_WDG_REGISTER BKP_DR4
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#define PIOS_WDG_ACTUATOR 0x0001
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#define PIOS_WDG_STABILIZATION 0x0002
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#define PIOS_WDG_AHRS 0x0004
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#define PIOS_WDG_MANUAL 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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#define PIOS_TELEM_STACK_SIZE 624
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//------------------------
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// PIOS_LED
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//------------------------
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#define PIOS_LED_LED1_GPIO_PORT GPIOC
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#define PIOS_LED_LED1_GPIO_PIN GPIO_Pin_12
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#define PIOS_LED_LED1_GPIO_CLK RCC_APB2Periph_GPIOC
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#define PIOS_LED_LED2_GPIO_PORT GPIOC
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#define PIOS_LED_LED2_GPIO_PIN GPIO_Pin_13
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#define PIOS_LED_LED2_GPIO_CLK RCC_APB2Periph_GPIOC
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#define PIOS_LED_NUM 2
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#define PIOS_LED_PORTS { PIOS_LED_LED1_GPIO_PORT, PIOS_LED_LED2_GPIO_PORT }
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#define PIOS_LED_PINS { PIOS_LED_LED1_GPIO_PIN, PIOS_LED_LED2_GPIO_PIN }
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#define PIOS_LED_CLKS { PIOS_LED_LED1_GPIO_CLK, PIOS_LED_LED2_GPIO_CLK }
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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 2
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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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// PIOS_BMP085
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//------------------------
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#define PIOS_BMP085_EOC_GPIO_PORT GPIOC
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#define PIOS_BMP085_EOC_GPIO_PIN GPIO_Pin_15
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#define PIOS_BMP085_EOC_PORT_SOURCE GPIO_PortSourceGPIOC
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#define PIOS_BMP085_EOC_PIN_SOURCE GPIO_PinSource15
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#define PIOS_BMP085_EOC_CLK RCC_APB2Periph_GPIOC
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#define PIOS_BMP085_EOC_EXTI_LINE EXTI_Line15
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#define PIOS_BMP085_EOC_IRQn EXTI15_10_IRQn
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#define PIOS_BMP085_EOC_PRIO PIOS_IRQ_PRIO_LOW
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#define PIOS_BMP085_XCLR_GPIO_PORT GPIOC // Not actually connected on OP mainboard
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#define PIOS_BMP085_XCLR_GPIO_PIN GPIO_Pin_14 // Not actually connected on OP mainboard
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//#define PIOS_BMP085_OVERSAMPLING 2
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#define PIOS_BMP085_OVERSAMPLING 3
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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 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 4
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extern uint32_t pios_com_telem_rf_id;
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#define PIOS_COM_TELEM_RF (pios_com_telem_rf_id)
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extern uint32_t pios_com_gps_id;
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#define PIOS_COM_GPS (pios_com_gps_id)
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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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#ifdef PIOS_ENABLE_AUX_UART
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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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#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_RCVR
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// See also pios_board.c
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//------------------------
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#define PIOS_RCVR_MAX_DEVS 1
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#define PIOS_RCVR_MAX_CHANNELS 12
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//-------------------------
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// Receiver PPM input
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//-------------------------
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#define PIOS_PPM_NUM_INPUTS 12
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//-------------------------
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// Receiver PWM input
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//-------------------------
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#define PIOS_PWM_NUM_INPUTS 8
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//-------------------------
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// Receiver SPEKTRUM input
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//-------------------------
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#define PIOS_SPEKTRUM_NUM_INPUTS 12
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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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// ADC
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// PIOS_ADC_PinGet(0) = Temperature Sensor (On-board)
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// PIOS_ADC_PinGet(1) = Power Sensor (Current)
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// PIOS_ADC_PinGet(2) = Power Sensor (Voltage)
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// PIOS_ADC_PinGet(3) = On-board 5v Rail Sensor
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// PIOS_ADC_PinGet(4) = Auxiliary Input 1
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// PIOS_ADC_PinGet(5) = Auxiliary Input 2
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// PIOS_ADC_PinGet(6) = Auxiliary Input 3
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//-------------------------
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//#define PIOS_ADC_OVERSAMPLING_RATE 1
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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 1
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#define PIOS_ADC_PIN1_GPIO_PORT GPIOA // PA1 (Power Sense - Voltage)
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#define PIOS_ADC_PIN1_GPIO_PIN GPIO_Pin_1 // ADC123_IN1
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#define PIOS_ADC_PIN1_GPIO_CHANNEL ADC_Channel_1
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#define PIOS_ADC_PIN1_ADC ADC1
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#define PIOS_ADC_PIN1_ADC_NUMBER 2
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#define PIOS_ADC_PIN2_GPIO_PORT GPIOC // PC3 (Power Sense - Current)
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#define PIOS_ADC_PIN2_GPIO_PIN GPIO_Pin_3 // ADC123_IN13
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#define PIOS_ADC_PIN2_GPIO_CHANNEL ADC_Channel_13
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#define PIOS_ADC_PIN2_ADC ADC2
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#define PIOS_ADC_PIN2_ADC_NUMBER 1
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#define PIOS_ADC_PIN3_GPIO_PORT GPIOC // PC5 (Onboard 5v Sensor) PC5
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#define PIOS_ADC_PIN3_GPIO_PIN GPIO_Pin_5 // ADC12_IN15
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#define PIOS_ADC_PIN3_GPIO_CHANNEL ADC_Channel_15
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#define PIOS_ADC_PIN3_ADC ADC2
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#define PIOS_ADC_PIN3_ADC_NUMBER 2
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#define PIOS_ADC_PIN4_GPIO_PORT GPIOC // PC0 (AUX 1)
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#define PIOS_ADC_PIN4_GPIO_PIN GPIO_Pin_0 // ADC123_IN10
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#define PIOS_ADC_PIN4_GPIO_CHANNEL ADC_Channel_10
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#define PIOS_ADC_PIN4_ADC ADC1
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#define PIOS_ADC_PIN4_ADC_NUMBER 3
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#define PIOS_ADC_PIN5_GPIO_PORT GPIOC // PC1 (AUX 2)
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#define PIOS_ADC_PIN5_GPIO_PIN GPIO_Pin_1 // ADC123_IN11
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#define PIOS_ADC_PIN5_GPIO_CHANNEL ADC_Channel_11
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#define PIOS_ADC_PIN5_ADC ADC2
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#define PIOS_ADC_PIN5_ADC_NUMBER 3
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#define PIOS_ADC_PIN6_GPIO_PORT GPIOC // PC2 (AUX 3)
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#define PIOS_ADC_PIN6_GPIO_PIN GPIO_Pin_2 // ADC123_IN12
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#define PIOS_ADC_PIN6_GPIO_CHANNEL ADC_Channel_12
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#define PIOS_ADC_PIN6_ADC ADC1
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#define PIOS_ADC_PIN6_ADC_NUMBER 4
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#define PIOS_ADC_NUM_PINS 6
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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 }
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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 }
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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 }
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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 }
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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 }
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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_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 293.5 cycles: */
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/* Tconv = 239.5 + 12.5 = 252 cycles = 18?s */
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/* (1 / (ADCCLK / CYCLES)) = Sample Time (?S) */
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#define PIOS_ADC_IRQ_PRIO PIOS_IRQ_PRIO_LOW
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#define PIOS_ADC_MAX_OVERSAMPLING 10
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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
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//-------------------------
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#define PIOS_GPIO_1_PORT GPIOC
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#define PIOS_GPIO_1_PIN GPIO_Pin_0
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#define PIOS_GPIO_1_GPIO_CLK RCC_APB2Periph_GPIOC
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#define PIOS_GPIO_2_PORT GPIOC
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#define PIOS_GPIO_2_PIN GPIO_Pin_1
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#define PIOS_GPIO_2_GPIO_CLK RCC_APB2Periph_GPIOC
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#define PIOS_GPIO_3_PORT GPIOC
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#define PIOS_GPIO_3_PIN GPIO_Pin_2
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#define PIOS_GPIO_3_GPIO_CLK RCC_APB2Periph_GPIOC
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#define PIOS_GPIO_4_PORT GPIOD
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#define PIOS_GPIO_4_PIN GPIO_Pin_2
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#define PIOS_GPIO_4_GPIO_CLK RCC_APB2Periph_GPIOD
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#define PIOS_GPIO_PORTS { PIOS_GPIO_1_PORT, PIOS_GPIO_2_PORT, PIOS_GPIO_3_PORT, PIOS_GPIO_4_PORT }
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#define PIOS_GPIO_PINS { PIOS_GPIO_1_PIN, PIOS_GPIO_2_PIN, PIOS_GPIO_3_PIN, PIOS_GPIO_4_PIN }
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#define PIOS_GPIO_CLKS { PIOS_GPIO_1_GPIO_CLK, PIOS_GPIO_2_GPIO_CLK, PIOS_GPIO_3_GPIO_CLK, PIOS_GPIO_4_GPIO_CLK }
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#define PIOS_GPIO_NUM 4
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//-------------------------
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// USB
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//-------------------------
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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 GPIOC
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#define PIOS_USB_DETECT_GPIO_PIN GPIO_Pin_4
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#define PIOS_USB_DETECT_EXTI_LINE EXTI_Line4
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#define PIOS_IRQ_USB_PRIORITY PIOS_IRQ_PRIO_MID
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/**
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* glue macros for file IO
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* STM32 uses DOSFS for file IO
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*/
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#define PIOS_FOPEN_READ(filename,file) DFS_OpenFile(&PIOS_SDCARD_VolInfo, (uint8_t *)filename, DFS_READ, PIOS_SDCARD_Sector, &file) != DFS_OK
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#define PIOS_FOPEN_WRITE(filename,file) DFS_OpenFile(&PIOS_SDCARD_VolInfo, (uint8_t *)filename, DFS_WRITE, PIOS_SDCARD_Sector, &file) != DFS_OK
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#define PIOS_FREAD(file,bufferadr,length,resultadr) DFS_ReadFile(file, PIOS_SDCARD_Sector, (uint8_t*)bufferadr, resultadr, length) != DFS_OK
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#define PIOS_FWRITE(file,bufferadr,length,resultadr) DFS_WriteFile(file, PIOS_SDCARD_Sector, (uint8_t*)bufferadr, resultadr, length)
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#define PIOS_FCLOSE(file) DFS_Close(&file)
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#define PIOS_FUNLINK(filename) DFS_UnlinkFile(&PIOS_SDCARD_VolInfo, (uint8_t *)filename, PIOS_SDCARD_Sector)
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#endif /* STM3210E_OP_H_ */
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/**
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* @}
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* @}
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*/
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