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326 lines
11 KiB
C
326 lines
11 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) 2013.
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* @brief Defines PiOS board hardware for the OpenPilot OPLink Mini board.
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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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#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_TELEMETRYTX 0x0001
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#define PIOS_WDG_TELEMETRYRX 0x0002
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#define PIOS_WDG_RADIOTX 0x0004
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#define PIOS_WDG_RADIORX 0x0008
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#define PIOS_WDG_RFM22B 0x000f
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#define PIOS_WDG_PPMINPUT 0x0010
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#define PIOS_WDG_SERIALRX 0x0020
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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_main_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_HID (pios_com_telem_usb_id)
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#define PIOS_COM_TELEM_USB PIOS_COM_TELEM_USB_HID
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#define PIOS_COM_TELEM_USB_VCP (pios_com_telem_vcp_id)
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#define PIOS_COM_TELEM_UART_MAIN (pios_com_telem_uart_main_id)
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#define PIOS_COM_TELEM_UART_FLEXI (pios_com_telem_uart_flexi_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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#define PIOS_ADC_TEMPERATURE_PIN 0
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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 12
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// -------------------------
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// Receiver PWM inputs
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// -------------------------
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#define PIOS_PWM_NUM_INPUTS 4
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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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#define PIOS_SERVO_BANKS 6
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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 /* PIOS_BOARD_H */
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