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dbf7574946
This should mark an end to the compile-time selection of HW configurations. Minor changes in board initialization for all platforms: - Most config structs are marked static to prevent badly written drivers from directly referring to config data. - Adapt to changes in .irq fields in config data. - Adapt to changes in USART IRQ handling. Major changes in board initialization for CC: - Use HwSettings UAVObj to decide which drivers to attach to the "main" port and the flexi port, and select the appropriate device configuration data. - HwSettings allows choosing between Disabled, Telemetry, SBUS, Spektrum,GPS, and I2C for each of the two ports. - Use ManualControlSettings.InputMode to init/configure the appropriate receiver module, and register its available rx channels with the PIOS_RCVR layer. Can choose between PWM, Spektrum and PPM at board init time. PPM driver is broken, and SBUS will work once it is added to this UAVObj as an option. - CC build now includes code for SBUS, Spektrum and PWM receivers in every firmware image. PIOS_USART driver: - Now handles its own low-level IRQs internally - If NULL upper-level IRQ handler is bound in at board init time then rx/tx is satisfied by internal PIOS_USART buffered IO routines which are (typically) attached to the COM layer. - If an alternate upper-level IRQ handler is bound in at board init then that handler is called and expected to clear down the USART IRQ sources. This is used by Spektrum and SBUS drivers. PIOS_SBUS and PIOS_SPEKTRUM drivers: - Improved data/API hiding - No longer assume they know where their config data is stored which allows for boot-time alternate configurations for the driver. - Now registers an upper-level IRQ handlerwith the USART layer to decouple the driver from which USART it is actually attached to.
284 lines
9.8 KiB
C
284 lines
9.8 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) 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_CC_H_
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#define STM32103CB_CC_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 | 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 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_ATTITUDE 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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//------------------------
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// PIOS_LED
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//------------------------
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#define PIOS_LED_LED1_GPIO_PORT GPIOA
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#define PIOS_LED_LED1_GPIO_PIN GPIO_Pin_6
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#define PIOS_LED_LED1_GPIO_CLK RCC_APB2Periph_GPIOA
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#define PIOS_LED_NUM 1
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#define PIOS_LED_PORTS { PIOS_LED_LED1_GPIO_PORT }
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#define PIOS_LED_PINS { PIOS_LED_LED1_GPIO_PIN }
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#define PIOS_LED_CLKS { PIOS_LED_LED1_GPIO_CLK }
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//-------------------------
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// Delay Timer
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//-------------------------
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#define PIOS_DELAY_TIMER TIM3
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#define PIOS_DELAY_TIMER_RCC_FUNC RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE)
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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_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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// SPI
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//
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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_USART
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//-------------------------
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#define PIOS_USART_MAX_DEVS 2
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#define PIOS_USART_RX_BUFFER_SIZE 256
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#define PIOS_USART_TX_BUFFER_SIZE 256
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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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#define PIOS_COM_TELEM_BAUDRATE 57600
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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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#define PIOS_COM_DEBUG PIOS_COM_TELEM_RF
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#if defined(PIOS_INCLUDE_GPS)
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#define PIOS_COM_GPS_BAUDRATE 57600
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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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#endif /* PIOS_INCLUDE_GPS */
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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_INCLUDE_SPEKTRUM
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#define PIOS_COM_SPEKTRUM_BAUDRATE 115200
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extern uint32_t pios_com_spektrum_id;
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#define PIOS_COM_SPEKTRUM (pios_com_spektrum_id)
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#endif
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#ifdef PIOS_INCLUDE_SBUS
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#define PIOS_COM_SBUS_BAUDRATE 100000
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extern uint32_t pios_com_sbus_id;
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#define PIOS_COM_SBUS (pios_com_sbus_id)
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#endif
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//-------------------------
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// ADC
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// PIOS_ADC_PinGet(0) = Gyro Z
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// PIOS_ADC_PinGet(1) = Gyro Y
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// PIOS_ADC_PinGet(2) = Gyro X
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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 // PA4 (Gyro X)
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#define PIOS_ADC_PIN1_GPIO_PIN GPIO_Pin_4 // ADC12_IN4
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#define PIOS_ADC_PIN1_GPIO_CHANNEL ADC_Channel_4
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#define PIOS_ADC_PIN1_ADC ADC2
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#define PIOS_ADC_PIN1_ADC_NUMBER 1
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#define PIOS_ADC_PIN2_GPIO_PORT GPIOA // PA5 (Gyro Y)
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#define PIOS_ADC_PIN2_GPIO_PIN GPIO_Pin_5 // ADC123_IN5
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#define PIOS_ADC_PIN2_GPIO_CHANNEL ADC_Channel_5
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#define PIOS_ADC_PIN2_ADC ADC1
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#define PIOS_ADC_PIN2_ADC_NUMBER 2
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#define PIOS_ADC_PIN3_GPIO_PORT GPIOA // PA3 (Gyro Z)
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#define PIOS_ADC_PIN3_GPIO_PIN GPIO_Pin_3 // ADC12_IN3
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#define PIOS_ADC_PIN3_GPIO_CHANNEL ADC_Channel_3
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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_NUM_PINS 3
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#define PIOS_ADC_PORTS { PIOS_ADC_PIN1_GPIO_PORT, PIOS_ADC_PIN2_GPIO_PORT, PIOS_ADC_PIN3_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 }
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#define PIOS_ADC_CHANNELS { PIOS_ADC_PIN1_GPIO_CHANNEL, PIOS_ADC_PIN2_GPIO_CHANNEL, PIOS_ADC_PIN3_GPIO_CHANNEL }
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#define PIOS_ADC_MAPPING { PIOS_ADC_PIN1_ADC, PIOS_ADC_PIN2_ADC, PIOS_ADC_PIN3_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 }
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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 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 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 6 //Could be more if needed
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//-------------------------
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// Receiver PWM input
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//-------------------------
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#define PIOS_PWM_NUM_INPUTS 6
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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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// GPIO
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//-------------------------
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#define PIOS_GPIO_1_PORT GPIOA
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#define PIOS_GPIO_1_PIN GPIO_Pin_7
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#define PIOS_GPIO_1_GPIO_CLK RCC_APB2Periph_GPIOA
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#define PIOS_GPIO_PORTS { PIOS_GPIO_1_PORT }
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#define PIOS_GPIO_PINS { PIOS_GPIO_1_PIN }
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#define PIOS_GPIO_CLKS { PIOS_GPIO_1_GPIO_CLK }
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#define PIOS_GPIO_NUM 1
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#define PIOS_FLASH_CS_PIN 0
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#define PIOS_FLASH_ENABLE PIOS_GPIO_On(0)
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#define PIOS_FLASH_DISABLE PIOS_GPIO_Off(0)
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#define PIOS_ADXL_ENABLE PIOS_SPI_RC_PinSet(PIOS_SPI_ACCEL,0)
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#define PIOS_ADXL_DISABLE PIOS_SPI_RC_PinSet(PIOS_SPI_ACCEL,1)
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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_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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#define PIOS_IRQ_USB_PRIORITY PIOS_IRQ_PRIO_MID
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#define PIOS_USB_RX_BUFFER_SIZE 128
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#define PIOS_USB_TX_BUFFER_SIZE 128
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#endif /* STM32103CB_AHRS_H_ */
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